diff --git a/trajectories/20260823T230330Z/trajectory_20260823T230506.605162Z_addfa8e6-aa74-4a99-ba7d-ad5c9b892f88.jsonl b/trajectories/20260823T230330Z/trajectory_20260823T230506.605162Z_addfa8e6-aa74-4a99-ba7d-ad5c9b892f88.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf721fb88e903bf8dbc4399eecfee3161f62f3f2 --- /dev/null +++ b/trajectories/20260823T230330Z/trajectory_20260823T230506.605162Z_addfa8e6-aa74-4a99-ba7d-ad5c9b892f88.jsonl @@ -0,0 +1,1027 @@ +{"timestamp_monotonic_ns":786742987232,"stream":"trajectory.metadata","data":{"trajectory_id":"addfa8e6-aa74-4a99-ba7d-ad5c9b892f88","started_at_utc":"2026-08-23T23:05:06.605314+00:00","run_id":"20260823T230330Z","hand_side":"right","brainco_device":{"description":"DeviceInfo { sku_type: MediumRight, hardware_type: Revo2Touch, serial_number: BCXTR2066J2600012, firmware_version: 1.0.20.U }","firmware_version":"1.0.20.U","hardware_type":{"name":"StarkHardwareType.Revo2Touch","int_value":6},"serial_number":"BCXTR2066J2600012","sku_type":{"name":"SkuType.MediumRight","int_value":1}},"port":"/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTA1LW3T-if01-port0","slave_id":127,"dry_run":false,"enable_arm":true,"enable_vision":true,"execute_minor_arm_movement":true,"control_parameters":{"start_threshold":50.0,"stop_threshold":250.0,"release_threshold":20.0,"release_seconds":0.7,"hold_duration":5.0,"max_close":500,"step":50,"period":0.1,"thumb_scale":1.0,"arm_raise_guard_seconds":2.0,"minor_arm_movement":{"kind":"minor_arm_movement_plan","execution_mode":"log_only","state_gate":"hold","movement":"single_out_and_back","reference":"measured_position_at_hold_entry","joint_name":"right_elbow","joint_index":25,"amplitude_rad":0.02,"duration_seconds":1.0,"sample_rate_hz":20.0,"samples":[{"time_seconds":0.0,"relative_position_rad":0.0},{"time_seconds":0.05,"relative_position_rad":0.000489435},{"time_seconds":0.1,"relative_position_rad":0.00190983},{"time_seconds":0.15,"relative_position_rad":0.004122147},{"time_seconds":0.2,"relative_position_rad":0.00690983},{"time_seconds":0.25,"relative_position_rad":0.01},{"time_seconds":0.3,"relative_position_rad":0.01309017},{"time_seconds":0.35,"relative_position_rad":0.015877853},{"time_seconds":0.4,"relative_position_rad":0.01809017},{"time_seconds":0.45,"relative_position_rad":0.019510565},{"time_seconds":0.5,"relative_position_rad":0.02},{"time_seconds":0.55,"relative_position_rad":0.019510565},{"time_seconds":0.6,"relative_position_rad":0.01809017},{"time_seconds":0.65,"relative_position_rad":0.015877853},{"time_seconds":0.7,"relative_position_rad":0.01309017},{"time_seconds":0.75,"relative_position_rad":0.01},{"time_seconds":0.8,"relative_position_rad":0.00690983},{"time_seconds":0.85,"relative_position_rad":0.004122147},{"time_seconds":0.9,"relative_position_rad":0.00190983},{"time_seconds":0.95,"relative_position_rad":0.000489435},{"time_seconds":1.0,"relative_position_rad":0.0}]},"minor_arm_start_delay":0.5}}} +{"timestamp_monotonic_ns":786754172640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808870,"imu":{"quaternion":[0.9929330945014954,-0.0004253858933225274,0.018371213227510452,0.11724428832530975],"gyroscope":[0.015978964045643806,0.02876213565468788,-0.038349516689777374],"accelerometer":[-0.34745851159095764,-0.292691171169281,9.69382381439209],"rpy":[0.0034654063638299704,0.036590684205293655,0.23513242602348328],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448474109172821,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016217585653066635,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00642810994759202,"velocity_rad_s":0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6322045922279358,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3115788996219635,"velocity_rad_s":0.0020985272713005543,"acceleration_raw":0.0,"estimated_torque_nm":5.913213729858398,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011024344712495804,"velocity_rad_s":-0.00555294519290328,"acceleration_raw":0.0,"estimated_torque_nm":-0.7867671847343445,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3535144031047821,"velocity_rad_s":-0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004606812261044979,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997864603996277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2860780954360962,"velocity_rad_s":0.0026670200750231743,"acceleration_raw":0.0,"estimated_torque_nm":2.60782527923584,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0038164439611136913,"velocity_rad_s":0.0009038591524586082,"acceleration_raw":0.0,"estimated_torque_nm":0.8968818187713623,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0015132841654121876,"velocity_rad_s":-0.21769867837429047,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0029152720235288143,"velocity_rad_s":-0.016146553680300713,"acceleration_raw":0.0,"estimated_torque_nm":-0.8026522397994995,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.010122549720108509,"velocity_rad_s":0.2296288162469864,"acceleration_raw":0.0,"estimated_torque_nm":-3.90677547454834,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28920331597328186,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21481724083423615,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004482100252062082,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9787996411323547,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011217234656214714,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.518750011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.014177338220179081,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-6.9375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10958375781774521,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06884937733411789,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.41169407963752747,"velocity_rad_s":-0.6657477021217346,"acceleration_raw":0.0,"estimated_torque_nm":-6.0,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07352322340011597,"velocity_rad_s":0.3221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21475732326507568,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-2.8062500953674316,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.048464205116033554,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.20000000298023224,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786742987232,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":15104,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 41, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 79, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 276, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 3892488, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":41,"normal_force2":0,"normal_force3":0,"self_proximity1":3892488,"self_proximity2":0,"status":3072,"tangential_direction1":276,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":79,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 1103573, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":1103573,"self_proximity2":0,"status":2560,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 196864, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":196864,"self_proximity2":0,"status":2560,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 7, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 10, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 36, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 1703965, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":7,"normal_force2":0,"normal_force3":0,"self_proximity1":1703965,"self_proximity2":0,"status":13312,"tangential_direction1":36,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":10,"tangential_force2":0,"tangential_force3":0}],"touch_metric":79.0,"controller_state_before":"open_wait"} +{"timestamp_monotonic_ns":786752466848,"stream":"brainco.motor","data":{"currents":[12,-101,20,0,-21,2],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [12, -101, 20, 0, -21, 2],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":786755238752,"stream":"controller.decision","data":{"state":"closing","close_value":0,"command_close":null,"trigger_arm":true,"release_arm":false,"entered_hold":false,"event":"contact_started","touch_metric":79.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.052519370498971193}} +{"timestamp_monotonic_ns":786757513856,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808878,"imu":{"quaternion":[0.9929517507553101,-0.0004189991159364581,0.018523594364523888,0.11706254631280899],"gyroscope":[0.0010652643395587802,0.049002159386873245,-0.05006742104887962],"accelerometer":[0.014365210197865963,-0.218171626329422,10.102334022521973],"rpy":[0.003507139626890421,0.03689253702759743,0.2347683310508728],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345086008310318,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016166452318429947,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006642380263656378,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321619749069214,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31145530939102173,"velocity_rad_s":0.014756510965526104,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010996180586516857,"velocity_rad_s":-0.005466771777719259,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3539745807647705,"velocity_rad_s":-0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014061490073800087,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004486285150051117,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997949838638306,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28596895933151245,"velocity_rad_s":0.016716990619897842,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037287850864231586,"velocity_rad_s":-0.023272741585969925,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0003214055032003671,"velocity_rad_s":-0.16455961763858795,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026800339110195637,"velocity_rad_s":-0.022424450144171715,"acceleration_raw":0.0,"estimated_torque_nm":-0.701338529586792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.011478918604552746,"velocity_rad_s":0.19444401562213898,"acceleration_raw":0.0,"estimated_torque_nm":-3.9090499877929688,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28931117057800293,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21493707597255707,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790393114089966,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011337077245116234,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5062500238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013937653973698616,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10936804115772247,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06886135786771774,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4067685604095459,"velocity_rad_s":-0.6734175682067871,"acceleration_raw":0.0,"estimated_torque_nm":-6.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07600395381450653,"velocity_rad_s":0.3160000443458557,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21735788881778717,"velocity_rad_s":-0.3497476279735565,"acceleration_raw":0.0,"estimated_torque_nm":-2.862499952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04918326064944267,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.23125000298023224,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786758195104,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808879,"imu":{"quaternion":[0.9929545521736145,-0.0004251175560057163,0.01854412630200386,0.11703560501337051],"gyroscope":[-0.0021305286791175604,0.05219795182347298,-0.05539374426007271],"accelerometer":[0.09786299616098404,-0.12838906049728394,10.05115795135498],"rpy":[0.003498793812468648,0.036934852600097656,0.234714075922966],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34506896138191223,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016149409115314484,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006669164169579744,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321619749069214,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31144294142723083,"velocity_rad_s":0.0110627431422472,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01100351195782423,"velocity_rad_s":-0.00641979044303298,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3540171980857849,"velocity_rad_s":-0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014061490073800087,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004446109291166067,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997694134712219,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2859647274017334,"velocity_rad_s":0.014555455185472965,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003721522865816951,"velocity_rad_s":-0.01955326460301876,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.21427033841609955,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002709830878302455,"velocity_rad_s":-0.004167180508375168,"acceleration_raw":0.0,"estimated_torque_nm":-0.701338529586792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.011622645892202854,"velocity_rad_s":0.19626982510089874,"acceleration_raw":0.0,"estimated_torque_nm":-3.9090499877929688,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2893231511116028,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21496105194091797,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791111946105957,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011361045762896538,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.518750011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013817811384797096,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10927216708660126,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0689212828874588,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4054742753505707,"velocity_rad_s":-0.7439807057380676,"acceleration_raw":0.0,"estimated_torque_nm":-6.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07625562697649002,"velocity_rad_s":0.33133986592292786,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21768146753311157,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":-2.737499952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04930310323834419,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786759891616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808880,"imu":{"quaternion":[0.9929577708244324,-0.0004309756914153695,0.0185670368373394,0.11700443178415298],"gyroscope":[-0.0010652643395587802,0.05752427130937576,-0.06391585618257523],"accelerometer":[0.10504560172557831,-0.0071826050989329815,9.807847023010254],"rpy":[0.0034913639537990093,0.03698184713721275,0.2346513271331787],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345086008310318,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016140887513756752,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006709339562803507,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321619749069214,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31144705414772034,"velocity_rad_s":-0.001062256284058094,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011010730639100075,"velocity_rad_s":-0.003718719119206071,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35404276847839355,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014070012606680393,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004446109291166067,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997779369354248,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2859354317188263,"velocity_rad_s":0.012969202362000942,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003714075079187751,"velocity_rad_s":-0.022316861897706985,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":8.035137580009177e-05,"velocity_rad_s":-0.215984508395195,"acceleration_raw":0.0,"estimated_torque_nm":0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026870935689657927,"velocity_rad_s":-0.013777864165604115,"acceleration_raw":0.0,"estimated_torque_nm":-0.751156747341156,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.011752038262784481,"velocity_rad_s":0.19627729058265686,"acceleration_raw":0.0,"estimated_torque_nm":-3.8309741020202637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28931117057800293,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21498501300811768,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791231751441956,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011349061504006386,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013805827125906944,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1092122420668602,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06895723193883896,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.40493497252464294,"velocity_rad_s":-0.7531846165657043,"acceleration_raw":0.0,"estimated_torque_nm":-6.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07685483992099762,"velocity_rad_s":0.3681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21813686192035675,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-2.793750047683716,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.049434930086135864,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":0.29374998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786761549664,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808881,"imu":{"quaternion":[0.9929612278938293,-0.00043456058483570814,0.018589481711387634,0.11697109788656235],"gyroscope":[0.0031957929022610188,0.056459009647369385,-0.06817691773176193],"accelerometer":[-0.012569558806717396,0.016160860657691956,9.754875183105469],"rpy":[0.0034882589243352413,0.03702739253640175,0.23458430171012878],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34511157870292664,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016106797382235527,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006736123468726873,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63218754529953,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31143879890441895,"velocity_rad_s":0.0031719203107059,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011025279760360718,"velocity_rad_s":0.0037330815102905035,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3540768623352051,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014070012606680393,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004446109291166067,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997694134712219,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2859395742416382,"velocity_rad_s":0.010278917849063873,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037068806122988462,"velocity_rad_s":-0.01951858401298523,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00012052706006215885,"velocity_rad_s":-0.20569951832294464,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026943720877170563,"velocity_rad_s":-0.008015488274395466,"acceleration_raw":0.0,"estimated_torque_nm":-0.8010963201522827,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.011890990659594536,"velocity_rad_s":0.19872614741325378,"acceleration_raw":0.0,"estimated_torque_nm":-3.9092140197753906,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28931117057800293,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21498501300811768,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791591167449951,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01137303002178669,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.518750011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013829795643687248,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10916430503129959,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06898120045661926,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4044676125049591,"velocity_rad_s":-0.7225049734115601,"acceleration_raw":0.0,"estimated_torque_nm":-6.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07719039171934128,"velocity_rad_s":0.39576706290245056,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21826869249343872,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":-3.0687499046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0496506467461586,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786763234208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808882,"imu":{"quaternion":[0.9929648041725159,-0.00044047465780749917,0.018610434606671333,0.11693727970123291],"gyroscope":[-0.0021305286791175604,0.05432847887277603,-0.06924217939376831],"accelerometer":[-0.05925649031996727,0.07900865375995636,10.235212326049805],"rpy":[0.0034801538567990065,0.03707052022218704,0.2345162034034729],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34514567255973816,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016055665910243988,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006749515421688557,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63218754529953,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31143465638160706,"velocity_rad_s":0.00211337604559958,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011032555252313614,"velocity_rad_s":0.0018701311200857162,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3541024327278137,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014104100875556469,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004419325385242701,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997694134712219,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28593122959136963,"velocity_rad_s":0.009174886159598827,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003706812858581543,"velocity_rad_s":-0.013956708833575249,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0002410541201243177,"velocity_rad_s":-0.18341541290283203,"acceleration_raw":0.0,"estimated_torque_nm":0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002663866151124239,"velocity_rad_s":-0.015695957466959953,"acceleration_raw":0.0,"estimated_torque_nm":-0.7014599442481995,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.012178514152765274,"velocity_rad_s":0.19382545351982117,"acceleration_raw":0.0,"estimated_torque_nm":-4.065365791320801,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28931117057800293,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21500898897647858,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979171097278595,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01137303002178669,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5062500238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013817811384797096,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10915232449769974,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06899318099021912,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4039163291454315,"velocity_rad_s":-0.7163690328598022,"acceleration_raw":0.0,"estimated_torque_nm":-6.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07749000191688538,"velocity_rad_s":0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2184244841337204,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-3.206249952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.049746520817279816,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786765400992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808883,"imu":{"quaternion":[0.9929685592651367,-0.0004469675477594137,0.018624233081936836,0.11690405011177063],"gyroscope":[-0.0053263213485479355,0.04048004373908043,-0.06817691773176193],"accelerometer":[-0.05925649031996727,0.07900865375995636,10.235212326049805],"rpy":[0.0034692406188696623,0.03709957003593445,0.23444920778274536],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3451371490955353,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016038620844483376,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0068030827678740025,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63218754529953,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31143054366111755,"velocity_rad_s":0.006340128369629383,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01102533657103777,"velocity_rad_s":0.005610394291579723,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3541279733181,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014112623408436775,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004365758039057255,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2859313189983368,"velocity_rad_s":0.009633843787014484,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003721269778907299,"velocity_rad_s":-0.0019290987402200699,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00033479739795438945,"velocity_rad_s":-0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00264164456166327,"velocity_rad_s":-0.021256864070892334,"acceleration_raw":0.0,"estimated_torque_nm":-0.6919863820075989,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.012365501374006271,"velocity_rad_s":0.20520080626010895,"acceleration_raw":0.0,"estimated_torque_nm":-4.05052375793457,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2892991900444031,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21500898897647858,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792070984840393,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01137303002178669,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013829795643687248,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-7.8125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10911636799573898,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06899318099021912,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.40263402462005615,"velocity_rad_s":-0.7838642001152039,"acceleration_raw":0.0,"estimated_torque_nm":-6.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07777762413024902,"velocity_rad_s":0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21864020824432373,"velocity_rad_s":-0.2761165499687195,"acceleration_raw":0.0,"estimated_torque_nm":-3.1187500953674316,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04986635968089104,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786767558560,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808883,"imu":{"quaternion":[0.9929685592651367,-0.0004469675477594137,0.018624233081936836,0.11690405011177063],"gyroscope":[-0.0053263213485479355,0.04048004373908043,-0.06817691773176193],"accelerometer":[-0.05925649031996727,0.07900865375995636,10.235212326049805],"rpy":[0.0034692406188696623,0.03709957003593445,0.23444920778274536],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34514567255973816,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0160045325756073,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006829866673797369,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63218754529953,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31143465638160706,"velocity_rad_s":-0.0010548318969085813,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011032555252313614,"velocity_rad_s":-7.181083674367983e-06,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3541535437107086,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014104100875556469,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004365758039057255,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285918653011322,"velocity_rad_s":0.009692004881799221,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003699464723467827,"velocity_rad_s":-0.011184440925717354,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00044193255598656833,"velocity_rad_s":-0.18170124292373657,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026205736212432384,"velocity_rad_s":-0.013430176302790642,"acceleration_raw":0.0,"estimated_torque_nm":-0.6919353604316711,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.012533492408692837,"velocity_rad_s":0.21380488574504852,"acceleration_raw":0.0,"estimated_torque_nm":-4.206569671630859,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2892991900444031,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21502096951007843,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792190790176392,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011385014280676842,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.01378185860812664,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-7.875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10909239947795868,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06899318099021912,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4019988477230072,"velocity_rad_s":-0.7961360812187195,"acceleration_raw":0.0,"estimated_torque_nm":-6.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07838881760835648,"velocity_rad_s":0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21905964612960815,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.049974218010902405,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":0.3375000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786769155008,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808884,"imu":{"quaternion":[0.9929761290550232,-0.0004586768336594105,0.01863601617515087,0.11683753877878189],"gyroscope":[-0.004261057358235121,0.019174758344888687,-0.06817691773176193],"accelerometer":[-0.32680854201316833,0.04489128291606903,9.647136688232422],"rpy":[0.0034462434705346823,0.03712594509124756,0.2343149036169052],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3451371490955353,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015987489372491837,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0068566505797207355,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63218754529953,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31143465638160706,"velocity_rad_s":-0.001587816164828837,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011032555252313614,"velocity_rad_s":-0.0027944252360612154,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3541620671749115,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004338974133133888,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2859146296977997,"velocity_rad_s":0.010691345669329166,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003721134504303336,"velocity_rad_s":-8.670009992783889e-05,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0006695947959087789,"velocity_rad_s":-0.17313042283058167,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002592079807072878,"velocity_rad_s":-0.012337996624410152,"acceleration_raw":0.0,"estimated_torque_nm":-0.6919353604316711,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.012715881690382957,"velocity_rad_s":0.22670753300189972,"acceleration_raw":0.0,"estimated_torque_nm":-4.206569671630859,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28931117057800293,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21500898897647858,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792430400848389,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011396998539566994,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013769874349236488,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-7.875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10902049392461777,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06900516897439957,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.40129178762435913,"velocity_rad_s":-0.8252816796302795,"acceleration_raw":0.0,"estimated_torque_nm":-6.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07868842035531998,"velocity_rad_s":0.40957289934158325,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21922743320465088,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-3.0374999046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05026184022426605,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.4937500059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786770743680,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808885,"imu":{"quaternion":[0.9929803013801575,-0.0004623227287083864,0.01863897033035755,0.11680157482624054],"gyroscope":[-0.0021305286791175604,0.01810949295759201,-0.07350324094295502],"accelerometer":[-0.0942716896533966,-0.28550854325294495,9.786299705505371],"rpy":[0.0034383442252874374,0.03713279590010643,0.23424233496189117],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3451627194881439,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015927834436297417,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006910218391567469,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63218754529953,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114222288131714,"velocity_rad_s":-0.0005329842679202557,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01105439756065607,"velocity_rad_s":-0.002787244040518999,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35418763756752014,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014129667542874813,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004312190227210522,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28591039776802063,"velocity_rad_s":0.014956250786781311,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037138538900762796,"velocity_rad_s":0.0017296879086643457,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0008169056382030249,"velocity_rad_s":-0.1937003880739212,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025475057773292065,"velocity_rad_s":-0.022819077596068382,"acceleration_raw":0.0,"estimated_torque_nm":-0.7747674584388733,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.013022364117205143,"velocity_rad_s":0.23929034173488617,"acceleration_raw":0.0,"estimated_torque_nm":-4.5432329177856445,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2892991900444031,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21505692601203918,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.518750011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013721938244998455,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10890065133571625,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06900516897439957,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.40066859126091003,"velocity_rad_s":-0.8406215310096741,"acceleration_raw":0.0,"estimated_torque_nm":-6.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07896406203508377,"velocity_rad_s":0.40650492906570435,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2193712443113327,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-3.106250047683716,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05035771429538727,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":0.48124998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786772903776,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808886,"imu":{"quaternion":[0.9929803013801575,-0.0004623227287083864,0.01863897033035755,0.11680157482624054],"gyroscope":[-0.0021305286791175604,0.01810949295759201,-0.07350324094295502],"accelerometer":[-0.0942716896533966,-0.28550854325294495,9.786299705505371],"rpy":[0.0034383442252874374,0.03713279590010643,0.23424233496189117],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3451627194881439,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01593635603785515,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006990569643676281,"velocity_rad_s":0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6322045922279358,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114181458950043,"velocity_rad_s":0.004726326558738947,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011047178879380226,"velocity_rad_s":-0.010174415074288845,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.354196161031723,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004258622881025076,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2859019339084625,"velocity_rad_s":0.01450892724096775,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0036993292160332203,"velocity_rad_s":-0.012148990295827389,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0009240407962352037,"velocity_rad_s":-0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025548452977091074,"velocity_rad_s":-0.01890929602086544,"acceleration_raw":0.0,"estimated_torque_nm":-0.7253912091255188,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0131897684186697,"velocity_rad_s":0.23317913711071014,"acceleration_raw":0.0,"estimated_torque_nm":-4.621460914611816,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2892991900444031,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21506890654563904,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.518750011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013697969727218151,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1088886708021164,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06905310600996017,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.39951810240745544,"velocity_rad_s":-0.8360195755958557,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07925168424844742,"velocity_rad_s":0.40957289934158325,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21956299245357513,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-3.206249952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05047755688428879,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786774747008,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808887,"imu":{"quaternion":[0.992984414100647,-0.0004659355035983026,0.018641678616404533,0.116765595972538],"gyroscope":[-0.0021305286791175604,0.01810949295759201,-0.07350324094295502],"accelerometer":[0.06464344263076782,-0.061052143573760986,9.980229377746582],"rpy":[0.003430452197790146,0.03713914379477501,0.23416975140571594],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3451627194881439,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015910789370536804,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0070173535495996475,"velocity_rad_s":0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6322045922279358,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31142640113830566,"velocity_rad_s":0.0026129507459700108,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011032628826797009,"velocity_rad_s":-0.012044546194374561,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3542046844959259,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004245230928063393,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2858853340148926,"velocity_rad_s":0.019244423136115074,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037136508617550135,"velocity_rad_s":-0.00015606018132530153,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001044567907229066,"velocity_rad_s":-0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025546085089445114,"velocity_rad_s":-0.01695745252072811,"acceleration_raw":0.0,"estimated_torque_nm":-0.7253912091255188,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.013333240523934364,"velocity_rad_s":0.2319599837064743,"acceleration_raw":0.0,"estimated_torque_nm":-4.621460914611816,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28927522897720337,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21505692601203918,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013697969727218151,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-7.8125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10884073376655579,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06908905506134033,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3989308774471283,"velocity_rad_s":-0.8222137093544006,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.0797550156712532,"velocity_rad_s":0.3773593008518219,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.21993450820446014,"velocity_rad_s":-0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-3.0250000953674316,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05060938373208046,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786776613568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808888,"imu":{"quaternion":[0.9929954409599304,-0.00047512503806501627,0.018640968948602676,0.11667203903198242],"gyroscope":[-0.004261057358235121,0.010652642697095871,-0.09693904966115952],"accelerometer":[0.10773907601833344,0.014365210197865963,9.761159896850586],"rpy":[0.0034085228107869625,0.03714020177721977,0.23398089408874512],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34515419602394104,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01588522270321846,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00705752894282341,"velocity_rad_s":0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6322045922279358,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114057779312134,"velocity_rad_s":0.00789453461766243,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0110545102506876,"velocity_rad_s":-0.008297102525830269,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35422173142433167,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004218447022140026,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28587695956230164,"velocity_rad_s":0.017106153070926666,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037136010359972715,"velocity_rad_s":-0.00013872016279492527,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0012990138493478298,"velocity_rad_s":-0.1628454625606537,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025924777146428823,"velocity_rad_s":-0.002320554805919528,"acceleration_raw":0.0,"estimated_torque_nm":-0.6760150194168091,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.013462466187775135,"velocity_rad_s":0.22404056787490845,"acceleration_raw":0.0,"estimated_torque_nm":-4.69968843460083,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2892632484436035,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21506890654563904,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013638048432767391,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10882874578237534,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06907707452774048,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3983316719532013,"velocity_rad_s":-0.803805947303772,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.0800546258687973,"velocity_rad_s":0.374291330575943,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22015021741390228,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-2.9312500953674316,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05086105316877365,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":0.48124998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786778456608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808889,"imu":{"quaternion":[0.993000864982605,-0.0004769148654304445,0.01863749884068966,0.11662650853395462],"gyroscope":[-0.0,0.0063915858045220375,-0.0926779955625534],"accelerometer":[-0.002693476853892207,0.1553238332271576,9.882367134094238],"rpy":[0.0034024512860924006,0.03713387995958328,0.23388905823230743],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34515419602394104,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01583409123122692,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00709770480170846,"velocity_rad_s":0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6322045922279358,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114140033721924,"velocity_rad_s":0.006306718103587627,"acceleration_raw":0.0,"estimated_torque_nm":6.094996452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011054454371333122,"velocity_rad_s":-0.01109152752906084,"acceleration_raw":0.0,"estimated_torque_nm":-0.7871307730674744,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35423025488853455,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00416487967595458,"velocity_rad_s":0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2858645021915436,"velocity_rad_s":0.017646536231040955,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037207279819995165,"velocity_rad_s":-0.0010685897432267666,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0014329327968880534,"velocity_rad_s":-0.19541454315185547,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026377649046480656,"velocity_rad_s":0.006476983428001404,"acceleration_raw":0.0,"estimated_torque_nm":-0.7747674584388733,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.013711269944906235,"velocity_rad_s":0.20998428761959076,"acceleration_raw":0.0,"estimated_torque_nm":-4.5432329177856445,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28925126791000366,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2150808870792389,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013518205843865871,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10868494212627411,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06908905506134033,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.39774444699287415,"velocity_rad_s":-0.8053399324417114,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08036621659994125,"velocity_rad_s":0.3880971670150757,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22034196555614471,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-2.956249952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05099288001656532,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786780048160,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808890,"imu":{"quaternion":[0.993000864982605,-0.0004769148654304445,0.01863749884068966,0.11662650853395462],"gyroscope":[-0.0,0.0063915858045220375,-0.0926779955625534],"accelerometer":[-0.002693476853892207,0.1553238332271576,9.882367134094238],"rpy":[0.0034024512860924006,0.03713387995958328,0.23388905823230743],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3451286256313324,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015808524563908577,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0071914480067789555,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6322216391563416,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114140033721924,"velocity_rad_s":0.005784870591014624,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011054454371333122,"velocity_rad_s":-0.008311464451253414,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3542387783527374,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004111311864107847,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2858686149120331,"velocity_rad_s":0.018221817910671234,"acceleration_raw":0.0,"estimated_torque_nm":2.7863428592681885,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037135332822799683,"velocity_rad_s":-0.00755166495218873,"acceleration_raw":0.0,"estimated_torque_nm":0.7944161295890808,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0015266761183738708,"velocity_rad_s":-0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026299194432795048,"velocity_rad_s":0.008426818996667862,"acceleration_raw":0.0,"estimated_torque_nm":-0.7747674584388733,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.013849940150976181,"velocity_rad_s":0.20998941361904144,"acceleration_raw":0.0,"estimated_torque_nm":-4.5432329177856445,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2892632484436035,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21509286761283875,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.01344630029052496,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1086370050907135,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06910104304552078,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3966299295425415,"velocity_rad_s":-0.7654564380645752,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08071375638246536,"velocity_rad_s":0.42031076550483704,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22053371369838715,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-2.9312500953674316,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05116065591573715,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786781900960,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808891,"imu":{"quaternion":[0.9930059909820557,-0.0004768830258399248,0.01863405480980873,0.11658357828855515],"gyroscope":[0.0031957929022610188,0.0063915858045220375,-0.08735167235136032],"accelerometer":[0.07721300423145294,0.10235211998224258,9.868001937866211],"rpy":[0.003400103421881795,0.03712717443704605,0.23380252718925476],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34514567255973816,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015782957896590233,"velocity_rad_s":0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007218231912702322,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321960687637329,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114140033721924,"velocity_rad_s":0.006306718103587627,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011054454371333122,"velocity_rad_s":-0.01109152752906084,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3542558252811432,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004057744517922401,"velocity_rad_s":0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2858602702617645,"velocity_rad_s":0.01922115683555603,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003713465528562665,"velocity_rad_s":0.003546077059581876,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001673986902460456,"velocity_rad_s":-0.21084201335906982,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002599231665953994,"velocity_rad_s":0.0035613649524748325,"acceleration_raw":0.0,"estimated_torque_nm":-0.8237314820289612,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.013983767479658127,"velocity_rad_s":0.2044672667980194,"acceleration_raw":0.0,"estimated_torque_nm":-4.621623516082764,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28925126791000366,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792430400848389,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013374395668506622,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10855311155319214,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06913699209690094,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3960067331790924,"velocity_rad_s":-0.7731263637542725,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08136090636253357,"velocity_rad_s":0.4448544383049011,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22074942290782928,"velocity_rad_s":-0.3067961633205414,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05131645128130913,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.5874999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786783752224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808892,"imu":{"quaternion":[0.9930156469345093,-0.000475407752674073,0.018630603328347206,0.11650139838457108],"gyroscope":[0.0063915858045220375,0.013848436065018177,-0.07989482581615448],"accelerometer":[0.08170213550329208,0.012569558806717396,9.802460670471191],"rpy":[0.003399156266823411,0.03712025657296181,0.23363696038722992],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3451627194881439,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01575739122927189,"velocity_rad_s":0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007271799258887768,"velocity_rad_s":0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321960687637329,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114098608493805,"velocity_rad_s":0.0052704475820064545,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011061728931963444,"velocity_rad_s":-0.001819863449782133,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35426434874534607,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004044352564960718,"velocity_rad_s":0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2858476936817169,"velocity_rad_s":0.019256053492426872,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003706117393448949,"velocity_rad_s":-0.002007128205150366,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0019150411244481802,"velocity_rad_s":-0.19541454315185547,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025609030853956938,"velocity_rad_s":-0.020830770954489708,"acceleration_raw":0.0,"estimated_torque_nm":-0.7747674584388733,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.014131920412182808,"velocity_rad_s":0.21603389084339142,"acceleration_raw":0.0,"estimated_torque_nm":-4.5432329177856445,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2892392873764038,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792670011520386,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013314474374055862,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10850517451763153,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0691729485988617,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3954554498195648,"velocity_rad_s":-0.7669904232025146,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08170844614505768,"velocity_rad_s":0.45099037885665894,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22110895812511444,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-2.9124999046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.051604073494672775,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":0.550000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786785896096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808893,"imu":{"quaternion":[0.9930156469345093,-0.000475407752674073,0.018630603328347206,0.11650139838457108],"gyroscope":[0.0063915858045220375,0.013848436065018177,-0.07989482581615448],"accelerometer":[0.08170213550329208,0.012569558806717396,9.802460670471191],"rpy":[0.003399156266823411,0.03712025657296181,0.23363696038722992],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34515419602394104,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015731824561953545,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007298583164811134,"velocity_rad_s":0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321960687637329,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114098608493805,"velocity_rad_s":0.004744887817651033,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011061728931963444,"velocity_rad_s":-0.0008955697412602603,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35427287220954895,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004030960611999035,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2858394384384155,"velocity_rad_s":0.021899810060858727,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037205067928880453,"velocity_rad_s":0.0025988686829805374,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":-0.19712871313095093,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002392943948507309,"velocity_rad_s":-0.036439526826143265,"acceleration_raw":0.0,"estimated_torque_nm":-0.6266387701034546,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.014370599761605263,"velocity_rad_s":0.22211430966854095,"acceleration_raw":0.0,"estimated_torque_nm":-4.777916431427002,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2892152965068817,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792670011520386,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013194631785154343,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10839731991291046,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06918492913246155,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.39486822485923767,"velocity_rad_s":-0.7593204975128174,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08203202486038208,"velocity_rad_s":0.4632622301578522,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22131268680095673,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0517478846013546,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.612500011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786787744000,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808894,"imu":{"quaternion":[0.9930201172828674,-0.0004744681646116078,0.01863228715956211,0.11646322160959244],"gyroscope":[0.0053263213485479355,0.017044229432940483,-0.07776429504156113],"accelerometer":[-0.029628245159983635,0.21458032727241516,9.860818862915039],"rpy":[0.0033999886363744736,0.03712351247668266,0.23356008529663086],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3451627194881439,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015731824561953545,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007405718322843313,"velocity_rad_s":0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321960687637329,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114098608493805,"velocity_rad_s":0.0052704475820064545,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011061728931963444,"velocity_rad_s":-0.001819863449782133,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35427287220954895,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003964001312851906,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997268557548523,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2858269512653351,"velocity_rad_s":0.020301925018429756,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037276337388902903,"velocity_rad_s":0.0016863378696143627,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.002156095113605261,"velocity_rad_s":-0.21255618333816528,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0024611842818558216,"velocity_rad_s":-0.052021969109773636,"acceleration_raw":0.0,"estimated_torque_nm":-0.6266387701034546,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.014557293616235256,"velocity_rad_s":0.21227890253067017,"acceleration_raw":0.0,"estimated_torque_nm":-4.777916431427002,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28920331597328186,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.14374999701976776,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.01312272623181343,"velocity_rad_s":-0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10836136341094971,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06923286616802216,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3942929804325104,"velocity_rad_s":-0.7608544826507568,"acceleration_raw":0.0,"estimated_torque_nm":-6.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08233162760734558,"velocity_rad_s":0.4555923044681549,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22145649790763855,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-3.0250000953674316,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.051903679966926575,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.5874999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786789350432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808895,"imu":{"quaternion":[0.9930248856544495,-0.00047237053513526917,0.018634133040905,0.1164223700761795],"gyroscope":[0.0074568502604961395,0.017044229432940483,-0.08309061825275421],"accelerometer":[-0.05656301602721214,0.18584990501403809,9.655217170715332],"rpy":[0.003403060371056199,0.03712683171033859,0.2334779053926468],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34514567255973816,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015731824561953545,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007445894181728363,"velocity_rad_s":0.11142057180404663,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63218754529953,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114140033721924,"velocity_rad_s":0.0010436952579766512,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011054454371333122,"velocity_rad_s":-0.005560126155614853,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3542899191379547,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014129667542874813,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003923825453966856,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28581851720809937,"velocity_rad_s":0.021417589858174324,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003713109064847231,"velocity_rad_s":-0.005726606585085392,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0022632302716374397,"velocity_rad_s":-0.22284114360809326,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002483820077031851,"velocity_rad_s":-0.04421253502368927,"acceleration_raw":0.0,"estimated_torque_nm":-0.528298556804657,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01468647737056017,"velocity_rad_s":0.2061779797077179,"acceleration_raw":0.0,"estimated_torque_nm":-4.7777533531188965,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28920331597328186,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005776396486908197,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013050821609795094,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10830144584178925,"velocity_rad_s":0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0692208856344223,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.39307060837745667,"velocity_rad_s":-0.7823302149772644,"acceleration_raw":0.0,"estimated_torque_nm":-5.9375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08290687203407288,"velocity_rad_s":0.4356505572795868,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22163626551628113,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-3.0687499046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05205947533249855,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786791211008,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808904,"imu":{"quaternion":[0.9930633902549744,-0.0004385372740216553,0.01861479878425598,0.11609750986099243],"gyroscope":[0.009587379172444344,0.0063915858045220375,-0.05858953669667244],"accelerometer":[-0.23792380094528198,0.15442600846290588,9.89314079284668],"rpy":[0.003453653072938323,0.03708167374134064,0.2328244149684906],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34506046772003174,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015621037222445011,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007753907702863216,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114098608493805,"velocity_rad_s":-7.4244294410164e-06,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011061728931963444,"velocity_rad_s":-0.0037115381564944983,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35437512397766113,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014095579273998737,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0036158119328320026,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997268557548523,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28577685356140137,"velocity_rad_s":0.00539220217615366,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037272453773766756,"velocity_rad_s":-0.007447624579071999,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.003910433501005173,"velocity_rad_s":-0.22626948356628418,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002295328304171562,"velocity_rad_s":-0.03670419752597809,"acceleration_raw":0.0,"estimated_torque_nm":-0.5881587862968445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.015916936099529266,"velocity_rad_s":0.1726563423871994,"acceleration_raw":0.0,"estimated_torque_nm":-4.676165580749512,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28910744190216064,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792430400848389,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.012020178139209747,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-8.25,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10752246528863907,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06934072822332382,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3861676752567291,"velocity_rad_s":-0.79460209608078,"acceleration_raw":0.0,"estimated_torque_nm":-6.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.0863463431596756,"velocity_rad_s":0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2232661098241806,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-3.4375,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.054072823375463486,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":0.6812499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786793350592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808905,"imu":{"quaternion":[0.9930664300918579,-0.0004305970505811274,0.018613290041685104,0.11607134342193604],"gyroscope":[0.014913700520992279,0.0074568502604961395,-0.05326321721076965],"accelerometer":[-0.4345476031303406,0.23702596127986908,9.40023422241211],"rpy":[0.0034681062679737806,0.0370769202709198,0.23277196288108826],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34506046772003174,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015621037222445011,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007794083096086979,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311405748128891,"velocity_rad_s":0.0005329842679202557,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011069003492593765,"velocity_rad_s":0.002787244040518999,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35437512397766113,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014104100875556469,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003589028026908636,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857684791088104,"velocity_rad_s":0.006484601181000471,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037271594628691673,"velocity_rad_s":-0.011158430948853493,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004057744517922401,"velocity_rad_s":-0.22626948356628418,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002250721212476492,"velocity_rad_s":-0.025160953402519226,"acceleration_raw":0.0,"estimated_torque_nm":-0.6376059651374817,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01605132967233658,"velocity_rad_s":0.15668857097625732,"acceleration_raw":0.0,"estimated_torque_nm":-4.5978312492370605,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792430400848389,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.011744541116058826,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-8.125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10745056718587875,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06934072822332382,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.38555648922920227,"velocity_rad_s":-0.8145438432693481,"acceleration_raw":0.0,"estimated_torque_nm":-6.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.0866699144244194,"velocity_rad_s":0.47400009632110596,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22339794039726257,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-3.393749952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05421663448214531,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":0.6937500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786795197600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808906,"imu":{"quaternion":[0.9930693507194519,-0.0004227401805110276,0.01861252263188362,0.11604680120944977],"gyroscope":[0.014913700520992279,0.008522114716470242,-0.05006742104887962],"accelerometer":[-0.34027591347694397,0.1032499447464943,9.323919296264648],"rpy":[0.0034826265182346106,0.037073660641908646,0.23272280395030975],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345043420791626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015595471486449242,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007820867002010345,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114098608493805,"velocity_rad_s":-0.003168208058923483,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011061728931963444,"velocity_rad_s":-0.0018773123156279325,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35437512397766113,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014095579273998737,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0035354604478925467,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28577685356140137,"velocity_rad_s":0.002736814320087433,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037272453773766756,"velocity_rad_s":-0.010202552191913128,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004245230928063393,"velocity_rad_s":-0.2605527341365814,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002304753288626671,"velocity_rad_s":-0.03193649649620056,"acceleration_raw":0.0,"estimated_torque_nm":-0.5883034467697144,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01619061455130577,"velocity_rad_s":0.15975506603717804,"acceleration_raw":0.0,"estimated_torque_nm":-4.520160675048828,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.01158874575048685,"velocity_rad_s":-0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":-8.125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10734270513057709,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06934072822332382,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3849453032016754,"velocity_rad_s":-0.803805947303772,"acceleration_raw":0.0,"estimated_torque_nm":-6.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08700547367334366,"velocity_rad_s":0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22352977097034454,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-3.393749952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05440838262438774,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":0.6812499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786797060576,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808907,"imu":{"quaternion":[0.9930693507194519,-0.0004227401805110276,0.01861252263188362,0.11604680120944977],"gyroscope":[0.014913700520992279,0.008522114716470242,-0.05006742104887962],"accelerometer":[-0.34027591347694397,0.1032499447464943,9.323919296264648],"rpy":[0.0034826265182346106,0.037073660641908646,0.23272280395030975],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34500932693481445,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015595471486449242,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007847650907933712,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114181458950043,"velocity_rad_s":-0.005289008840918541,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011047178879380226,"velocity_rad_s":-0.007458982057869434,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.354383647441864,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014104100875556469,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0035086767747998238,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857600450515747,"velocity_rad_s":0.0016793119721114635,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003712634788826108,"velocity_rad_s":-0.012044950388371944,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004405933897942305,"velocity_rad_s":-0.253696084022522,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002290163654834032,"velocity_rad_s":-0.02717704512178898,"acceleration_raw":0.0,"estimated_torque_nm":-0.5390008687973022,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.016277022659778595,"velocity_rad_s":0.14562468230724335,"acceleration_raw":0.0,"estimated_torque_nm":-4.4424896240234375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.011516840197145939,"velocity_rad_s":-0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":-8.125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10728278756141663,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06935270875692368,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3837948143482208,"velocity_rad_s":-0.8084079027175903,"acceleration_raw":0.0,"estimated_torque_nm":-6.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.0875926986336708,"velocity_rad_s":0.44792240858078003,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2236376255750656,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-3.46875,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05456417798995972,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786798909792,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808908,"imu":{"quaternion":[0.9930749535560608,-0.00041163351852446795,0.018612461164593697,0.1159982904791832],"gyroscope":[0.0074568502604961395,0.011717907153069973,-0.049002159386873245],"accelerometer":[-0.28461071848869324,-0.08439560979604721,9.80335807800293],"rpy":[0.0035028746351599693,0.03707112744450569,0.23262546956539154],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34500932693481445,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015569904819130898,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007847650907933712,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114098608493805,"velocity_rad_s":-0.0005292720743454993,"acceleration_raw":0.0,"estimated_torque_nm":6.094996452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011061728931963444,"velocity_rad_s":-0.0009314750786870718,"acceleration_raw":0.0,"estimated_torque_nm":-0.7871307730674744,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3543921709060669,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014112623408436775,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003481892868876457,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857600450515747,"velocity_rad_s":-0.0009993406711146235,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003712634788826108,"velocity_rad_s":-0.011097741313278675,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004740730859339237,"velocity_rad_s":-0.2519819140434265,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022908076643943787,"velocity_rad_s":-0.022368045523762703,"acceleration_raw":0.0,"estimated_torque_nm":-0.6377506256103516,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0163730476051569,"velocity_rad_s":0.1388690173625946,"acceleration_raw":0.0,"estimated_torque_nm":-4.441826343536377,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151528000831604,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792190790176392,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.011444934643805027,"velocity_rad_s":-0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":-8.125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10723485052585602,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06938866525888443,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3832795023918152,"velocity_rad_s":-0.803805947303772,"acceleration_raw":0.0,"estimated_torque_nm":-6.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08791627734899521,"velocity_rad_s":0.42644667625427246,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2238892912864685,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-3.4124999046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05481584742665291,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786800776128,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808908,"imu":{"quaternion":[0.9930775761604309,-0.00040755822556093335,0.01861361600458622,0.11597593873739243],"gyroscope":[0.008522114716470242,0.012783171609044075,-0.045806366950273514],"accelerometer":[-0.13826514780521393,0.15352818369865417,9.596858024597168],"rpy":[0.0035104083362966776,0.037072550505399704,0.23258060216903687],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34501785039901733,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015561383217573166,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311405748128891,"velocity_rad_s":0.0031607835553586483,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011069003492593765,"velocity_rad_s":-0.0018342258408665657,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35441774129867554,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0034551091957837343,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997268557548523,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28576838970184326,"velocity_rad_s":-0.005827894434332848,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037127025425434113,"velocity_rad_s":-0.008282123133540154,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004874649923294783,"velocity_rad_s":-0.21769867837429047,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0021930730435997248,"velocity_rad_s":-0.024351095780730247,"acceleration_raw":0.0,"estimated_torque_nm":-0.6871978044509888,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.016502590849995613,"velocity_rad_s":0.13272161781787872,"acceleration_raw":0.0,"estimated_torque_nm":-4.363492012023926,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5062500238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.011157313361763954,"velocity_rad_s":-0.18561168015003204,"acceleration_raw":0.0,"estimated_torque_nm":-8.0,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10717492550611496,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06941263377666473,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.38271623849868774,"velocity_rad_s":-0.7900001406669617,"acceleration_raw":0.0,"estimated_torque_nm":-6.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.0881919115781784,"velocity_rad_s":0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22403310239315033,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-3.356250047683716,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05494767427444458,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.6812499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786802627424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808909,"imu":{"quaternion":[0.9930797815322876,-0.000403990619815886,0.018616238608956337,0.11595680564641953],"gyroscope":[0.0074568502604961395,0.015978964045643806,-0.03941477835178375],"accelerometer":[-0.10235211998224258,0.20560206472873688,9.296984672546387],"rpy":[0.0035173934884369373,0.037077005952596664,0.2325422167778015],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345043420791626,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015569904819130898,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007928002625703812,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114016354084015,"velocity_rad_s":0.0042081912979483604,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01106178481131792,"velocity_rad_s":-0.005538582801818848,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544262647628784,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014104100875556469,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0034283252898603678,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28576427698135376,"velocity_rad_s":-0.0053573050536215305,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037198972422629595,"velocity_rad_s":0.0018944183830171824,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.005062136333435774,"velocity_rad_s":-0.24683944880962372,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022470406256616116,"velocity_rad_s":-0.025334367528557777,"acceleration_raw":0.0,"estimated_torque_nm":-0.6378952860832214,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01663227193057537,"velocity_rad_s":0.1308770328760147,"acceleration_raw":0.0,"estimated_torque_nm":-4.285821437835693,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5062500238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.010965566150844097,"velocity_rad_s":-0.20555342733860016,"acceleration_raw":0.0,"estimated_torque_nm":-7.9375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10700714588165283,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0694725513458252,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.38216495513916016,"velocity_rad_s":-0.7623884677886963,"acceleration_raw":0.0,"estimated_torque_nm":-6.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08850350230932236,"velocity_rad_s":0.4157088100910187,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2241889089345932,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-3.325000047683716,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05507949739694595,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.6812499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786804494560,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808910,"imu":{"quaternion":[0.9930797815322876,-0.000403990619815886,0.018616238608956337,0.11595680564641953],"gyroscope":[0.0074568502604961395,0.015978964045643806,-0.03941477835178375],"accelerometer":[-0.10235211998224258,0.20560206472873688,9.296984672546387],"rpy":[0.0035173934884369373,0.037077005952596664,0.2325422167778015],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3450263738632202,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015535816550254822,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007954785600304604,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321364045143127,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311405748128891,"velocity_rad_s":0.0026166627649217844,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011069003492593765,"velocity_rad_s":-0.01018877699971199,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544433116912842,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014112623408436775,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0034149333368986845,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857600450515747,"velocity_rad_s":-0.0010575022315606475,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003712634788826108,"velocity_rad_s":-0.001842398545704782,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.005236231256276369,"velocity_rad_s":-0.23655444383621216,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022247692104429007,"velocity_rad_s":-0.03415901958942413,"acceleration_raw":0.0,"estimated_torque_nm":-0.6378952860832214,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.016704270616173744,"velocity_rad_s":0.11796317249536514,"acceleration_raw":0.0,"estimated_torque_nm":-4.285821437835693,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.010761834681034088,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-7.875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10693524032831192,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0694725513458252,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3810024857521057,"velocity_rad_s":-0.7731263637542725,"acceleration_raw":0.0,"estimated_torque_nm":-6.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08916263282299042,"velocity_rad_s":0.4310486316680908,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22434470057487488,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-3.325000047683716,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05523529276251793,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":0.668749988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786806339296,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808911,"imu":{"quaternion":[0.9930830597877502,-0.00039809965528547764,0.01862323097884655,0.11592697352170944],"gyroscope":[0.0063915858045220375,0.01810949295759201,-0.030892664566636086],"accelerometer":[-0.09876082092523575,0.04758475720882416,9.726144790649414],"rpy":[0.0035296122077852488,0.03708963841199875,0.2324824035167694],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3450263738632202,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015518772415816784,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00799496192485094,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321194171905518,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114140033721924,"velocity_rad_s":-0.0053001451306045055,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011054454371333122,"velocity_rad_s":-0.013026288710534573,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35446035861968994,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014095579273998737,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0033747577108442783,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997183322906494,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857559025287628,"velocity_rad_s":-0.0015862532891333103,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003719829488545656,"velocity_rad_s":-0.002763597760349512,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00542371766641736,"velocity_rad_s":-0.253696084022522,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002225156407803297,"velocity_rad_s":-0.030358072370290756,"acceleration_raw":0.0,"estimated_torque_nm":-0.5885927081108093,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.016761885955929756,"velocity_rad_s":0.10567557066679001,"acceleration_raw":0.0,"estimated_torque_nm":-4.208150863647461,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.010630007833242416,"velocity_rad_s":-0.22856314480304718,"acceleration_raw":0.0,"estimated_torque_nm":-7.8125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10685135424137115,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06944858282804489,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3804871737957001,"velocity_rad_s":-0.7669904232025146,"acceleration_raw":0.0,"estimated_torque_nm":-6.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08951018005609512,"velocity_rad_s":0.4310486316680908,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22462032735347748,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-3.2750000953674316,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055510930716991425,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":0.574999988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786807904320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808912,"imu":{"quaternion":[0.9930848479270935,-0.00039360520895570517,0.018626634031534195,0.11591148376464844],"gyroscope":[0.009587379172444344,0.01810949295759201,-0.03195792809128761],"accelerometer":[0.07990647852420807,0.08619125932455063,9.978434562683105],"rpy":[0.003538756864145398,0.037095412611961365,0.2324514091014862],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34500932693481445,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015518772415816784,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008021745830774307,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321108937263489,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311405748128891,"velocity_rad_s":-0.0031719203107059,"acceleration_raw":0.0,"estimated_torque_nm":6.186239719390869,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011069003492593765,"velocity_rad_s":-0.0037330815102905035,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389759063720703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544688820838928,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014087056741118431,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003361365757882595,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997268557548523,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857641577720642,"velocity_rad_s":0.001104031573049724,"acceleration_raw":0.0,"estimated_torque_nm":2.876441717147827,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037054400891065598,"velocity_rad_s":-0.005561875645071268,"acceleration_raw":0.0,"estimated_torque_nm":0.8467760682106018,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0057719070464372635,"velocity_rad_s":-0.2571244239807129,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002203014213591814,"velocity_rad_s":-0.018790055066347122,"acceleration_raw":0.0,"estimated_torque_nm":-0.6380398869514465,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0168530885130167,"velocity_rad_s":0.0933951586484909,"acceleration_raw":0.0,"estimated_torque_nm":-4.12981653213501,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5062500238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.010162622667849064,"velocity_rad_s":-0.2730485796928406,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10677944868803024,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06946057081222534,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3799838423728943,"velocity_rad_s":-0.725572943687439,"acceleration_raw":0.0,"estimated_torque_nm":-7.0,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.08984573930501938,"velocity_rad_s":0.45099037885665894,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2248120754957199,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-3.5374999046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0556667260825634,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786809765600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808913,"imu":{"quaternion":[0.9930848479270935,-0.00039360520895570517,0.018626634031534195,0.11591148376464844],"gyroscope":[0.009587379172444344,0.01810949295759201,-0.03195792809128761],"accelerometer":[0.07990647852420807,0.08619125932455063,9.978434562683105],"rpy":[0.003538756864145398,0.037095412611961365,0.2324514091014862],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3450348973274231,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015501728281378746,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008075312711298466,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.632102370262146,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114098608493805,"velocity_rad_s":-0.006861975882202387,"acceleration_raw":0.0,"estimated_torque_nm":6.2767791748046875,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011061728931963444,"velocity_rad_s":-0.002830330515280366,"acceleration_raw":0.0,"estimated_torque_nm":-0.787494421005249,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544774055480957,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003321190131828189,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857433557510376,"velocity_rad_s":0.005368937272578478,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037124992813915014,"velocity_rad_s":-0.0037454874254763126,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.005932609550654888,"velocity_rad_s":-0.27255186438560486,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002279379405081272,"velocity_rad_s":-0.013030823320150375,"acceleration_raw":0.0,"estimated_torque_nm":-0.6380398869514465,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.016929978504776955,"velocity_rad_s":0.08356759697198868,"acceleration_raw":0.0,"estimated_torque_nm":-4.12981653213501,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.009898969903588295,"velocity_rad_s":-0.28685441613197327,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10658770054578781,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0694725513458252,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.37939661741256714,"velocity_rad_s":-0.7378447651863098,"acceleration_raw":0.0,"estimated_torque_nm":-7.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09015733003616333,"velocity_rad_s":0.45405831933021545,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2250158190727234,"velocity_rad_s":-0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-3.450000047683716,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05583450570702553,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":0.612500011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786811605120,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808914,"imu":{"quaternion":[0.993086576461792,-0.0003890848020091653,0.01862983964383602,0.11589599400758743],"gyroscope":[0.009587379172444344,0.01810949295759201,-0.03195792809128761],"accelerometer":[0.0628477931022644,0.10773907601833344,9.9865140914917],"rpy":[0.0035479064099490643,0.03710078448057175,0.2324203997850418],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34505194425582886,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015476161614060402,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008075312711298466,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320938467979431,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311405748128891,"velocity_rad_s":-3.7122147205082e-06,"acceleration_raw":0.0,"estimated_torque_nm":6.2767791748046875,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011069003492593765,"velocity_rad_s":-0.0018557690782472491,"acceleration_raw":0.0,"estimated_torque_nm":-0.787494421005249,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544858992099762,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032944062259048223,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997268557548523,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28574737906455994,"velocity_rad_s":0.007553735747933388,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003690847661346197,"velocity_rad_s":-0.011167101562023163,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.006079920567572117,"velocity_rad_s":-0.25026774406433105,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022722138091921806,"velocity_rad_s":-0.016906097531318665,"acceleration_raw":0.0,"estimated_torque_nm":-0.6380398869514465,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.016992388293147087,"velocity_rad_s":0.08479311317205429,"acceleration_raw":0.0,"estimated_torque_nm":-4.12981653213501,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.00965928565710783,"velocity_rad_s":-0.31139811873435974,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10650380700826645,"velocity_rad_s":0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0694965198636055,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3782341182231903,"velocity_rad_s":-0.7547186017036438,"acceleration_raw":0.0,"estimated_torque_nm":-7.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09085240960121155,"velocity_rad_s":0.45405831933021545,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22524350881576538,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-3.3812499046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0559663325548172,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":0.637499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786813452416,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808915,"imu":{"quaternion":[0.9930883049964905,-0.00038372701965272427,0.01863483339548111,0.11588048934936523],"gyroscope":[0.011717907153069973,0.021305285394191742,-0.03195792809128761],"accelerometer":[-0.19482816755771637,0.07811082899570465,9.700108528137207],"rpy":[0.0035591351334005594,0.03710952028632164,0.232389435172081],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345043420791626,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015484684146940708,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008128880523145199,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320682764053345,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311397522687912,"velocity_rad_s":-7.4244294410164e-06,"acceleration_raw":0.0,"estimated_torque_nm":6.2767791748046875,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011054566130042076,"velocity_rad_s":-0.0037115381564944983,"acceleration_raw":0.0,"estimated_torque_nm":-0.787494421005249,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544774055480957,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032944062259048223,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28573480248451233,"velocity_rad_s":0.009633843787014484,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003683517687022686,"velocity_rad_s":-0.0019290987402200699,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.006294190883636475,"velocity_rad_s":-0.26912355422973633,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022801535669714212,"velocity_rad_s":-0.015030394308269024,"acceleration_raw":0.0,"estimated_torque_nm":-0.6874871253967285,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01704520918428898,"velocity_rad_s":0.07496195286512375,"acceleration_raw":0.0,"estimated_torque_nm":-4.051482677459717,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792190790176392,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.009515474550426006,"velocity_rad_s":-0.2899223864078522,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10641992092132568,"velocity_rad_s":0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0695204883813858,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.37782666087150574,"velocity_rad_s":-0.7240389585494995,"acceleration_raw":0.0,"estimated_torque_nm":-7.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09125987440347672,"velocity_rad_s":0.4801360070705414,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22542327642440796,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-3.6624999046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05621800199151039,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.5874999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786815299488,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808916,"imu":{"quaternion":[0.9930909276008606,-0.0003734309575520456,0.01864641159772873,0.11585637927055359],"gyroscope":[0.011717907153069973,0.021305285394191742,-0.023435814306139946],"accelerometer":[-0.4982932209968567,0.1355716735124588,9.7791166305542],"rpy":[0.0035813848953694105,0.03713022172451019,0.23234136402606964],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345043420791626,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015467639081180096,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008128880523145199,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320767998695374,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311397522687912,"velocity_rad_s":-0.0015915284166112542,"acceleration_raw":0.0,"estimated_torque_nm":6.2767791748046875,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011054566130042076,"velocity_rad_s":-0.004650194197893143,"acceleration_raw":0.0,"estimated_torque_nm":-0.787494421005249,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544688820838928,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014129667542874813,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032676225528120995,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857263684272766,"velocity_rad_s":0.01123172976076603,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0036689748521894217,"velocity_rad_s":-0.0010165696730837226,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.006615596357733011,"velocity_rad_s":-0.26740938425064087,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0021898625418543816,"velocity_rad_s":-0.022538652643561363,"acceleration_raw":0.0,"estimated_torque_nm":-0.6354829668998718,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.017150746658444405,"velocity_rad_s":0.08228017389774323,"acceleration_raw":0.0,"estimated_torque_nm":-3.973829984664917,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.009191900491714478,"velocity_rad_s":-0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10634801536798477,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06950850784778595,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3773832619190216,"velocity_rad_s":-0.6948933005332947,"acceleration_raw":0.0,"estimated_torque_nm":-7.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09161940217018127,"velocity_rad_s":0.4970097839832306,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22553113102912903,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":-3.768749952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05634982883930206,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.5874999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786817483776,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808917,"imu":{"quaternion":[0.9930909276008606,-0.0003734309575520456,0.01864641159772873,0.11585637927055359],"gyroscope":[0.011717907153069973,0.021305285394191742,-0.023435814306139946],"accelerometer":[-0.4982932209968567,0.1355716735124588,9.7791166305542],"rpy":[0.0035813848953694105,0.03713022172451019,0.23234136402606964],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3450348973274231,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015450594946742058,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008128880523145199,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320512294769287,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114016652107239,"velocity_rad_s":-0.003708616830408573,"acceleration_raw":0.0,"estimated_torque_nm":6.2767791748046875,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011047291569411755,"velocity_rad_s":-0.00837609451264143,"acceleration_raw":0.0,"estimated_torque_nm":-0.787494421005249,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544944226741791,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003254230599850416,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28572213649749756,"velocity_rad_s":0.012899409048259258,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00366171239875257,"velocity_rad_s":-0.01121045183390379,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00676290737465024,"velocity_rad_s":-0.23312611877918243,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022436166182160378,"velocity_rad_s":-0.008122734725475311,"acceleration_raw":0.0,"estimated_torque_nm":-0.6380398869514465,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.017251627519726753,"velocity_rad_s":0.09156138449907303,"acceleration_raw":0.0,"estimated_torque_nm":-4.12981653213501,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.008904279209673405,"velocity_rad_s":-0.2791845202445984,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1062401533126831,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06955644488334656,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3769158720970154,"velocity_rad_s":-0.6780195236206055,"acceleration_raw":0.0,"estimated_torque_nm":-7.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09195496141910553,"velocity_rad_s":0.4893398880958557,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22565098106861115,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-3.7437500953674316,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05645768344402313,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":0.612500011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786822147168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808918,"imu":{"quaternion":[0.9930921792984009,-0.00037035171408206224,0.018650194630026817,0.11584462225437164],"gyroscope":[0.0063915858045220375,0.017044229432940483,-0.024501079693436623],"accelerometer":[-0.6482301354408264,0.19033902883529663,9.692925453186035],"rpy":[0.0035879442002624273,0.037137068808078766,0.23231783509254456],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34500932693481445,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015459117479622364,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008155664429068565,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320427060127258,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114016652107239,"velocity_rad_s":0.001032558735460043,"acceleration_raw":0.0,"estimated_torque_nm":6.1855363845825195,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011047291569411755,"velocity_rad_s":-0.011127433739602566,"acceleration_raw":0.0,"estimated_torque_nm":-0.7356493473052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544688820838928,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032274469267576933,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28570955991744995,"velocity_rad_s":0.015037678182125092,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003654382424429059,"velocity_rad_s":-0.01122779119759798,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.006923609878867865,"velocity_rad_s":-0.25541025400161743,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022364510223269463,"velocity_rad_s":-0.0012976526049897075,"acceleration_raw":0.0,"estimated_torque_nm":-0.6873424649238586,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.017314037308096886,"velocity_rad_s":0.09586960822343826,"acceleration_raw":0.0,"estimated_torque_nm":-4.207487106323242,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.008628642186522484,"velocity_rad_s":-0.3098641335964203,"acceleration_raw":0.0,"estimated_torque_nm":-8.25,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10618023574352264,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06954445689916611,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.37584927678108215,"velocity_rad_s":-0.7010292410850525,"acceleration_raw":0.0,"estimated_torque_nm":-7.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09267401695251465,"velocity_rad_s":0.4924078583717346,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22578279674053192,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-3.674999952316284,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0565655417740345,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":0.550000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786824459616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808919,"imu":{"quaternion":[0.9930935502052307,-0.0003659874200820923,0.018653979524970055,0.11583231389522552],"gyroscope":[0.008522114716470242,0.015978964045643806,-0.02556634321808815],"accelerometer":[-0.6015431880950928,0.3312976658344269,9.2933931350708],"rpy":[0.0035970360040664673,0.03714362159371376,0.2322932481765747],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34500932693481445,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015459117479622364,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008155664429068565,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320512294769287,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114016652107239,"velocity_rad_s":0.000536696461495012,"acceleration_raw":0.0,"estimated_torque_nm":6.2767791748046875,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011047291569411755,"velocity_rad_s":0.00464301323518157,"acceleration_raw":0.0,"estimated_torque_nm":-0.787494421005249,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544944226741791,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014163755811750889,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857179045677185,"velocity_rad_s":0.005944218020886183,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0036544501781463623,"velocity_rad_s":-0.010228562168776989,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007111096754670143,"velocity_rad_s":-0.26398104429244995,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002244455274194479,"velocity_rad_s":0.0025776217225939035,"acceleration_raw":0.0,"estimated_torque_nm":-0.6873424649238586,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.017376460134983063,"velocity_rad_s":0.09464408457279205,"acceleration_raw":0.0,"estimated_torque_nm":-4.207487106323242,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.008329036645591259,"velocity_rad_s":-0.32520392537117004,"acceleration_raw":0.0,"estimated_torque_nm":-8.1875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10608436167240143,"velocity_rad_s":0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06954445689916611,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3753818869590759,"velocity_rad_s":-0.6933593153953552,"acceleration_raw":0.0,"estimated_torque_nm":-7.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.0930095687508583,"velocity_rad_s":0.4724661111831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22604645788669586,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-3.6624999046325684,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.056661415845155716,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786826483360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808920,"imu":{"quaternion":[0.9930951595306396,-0.00036366796121001244,0.018656674772500992,0.11581796407699585],"gyroscope":[0.004261057358235121,0.013848436065018177,-0.029827401041984558],"accelerometer":[-0.4659714996814728,0.16879121959209442,9.65611457824707],"rpy":[0.0036017349921166897,0.03714849054813385,0.232264444231987],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449837565422058,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015467639081180096,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008182448334991932,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.632034182548523,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311397522687912,"velocity_rad_s":0.0031867693178355694,"acceleration_raw":0.0,"estimated_torque_nm":6.2767791748046875,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011054566130042076,"velocity_rad_s":0.011156157590448856,"acceleration_raw":0.0,"estimated_torque_nm":-0.787494421005249,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3544944226741791,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014163755811750889,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857179045677185,"velocity_rad_s":0.002736814320087433,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0036544501781463623,"velocity_rad_s":-0.010202552191913128,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007459285669028759,"velocity_rad_s":-0.2759801745414734,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002214631298556924,"velocity_rad_s":0.011270148679614067,"acceleration_raw":0.0,"estimated_torque_nm":-0.7367896437644958,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.017453253269195557,"velocity_rad_s":0.08789202570915222,"acceleration_raw":0.0,"estimated_torque_nm":-4.129153251647949,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011444934643805027,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.007969509810209274,"velocity_rad_s":-0.30372822284698486,"acceleration_raw":0.0,"estimated_torque_nm":-8.1875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10601245611906052,"velocity_rad_s":0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06954445689916611,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3748425841331482,"velocity_rad_s":-0.6826214790344238,"acceleration_raw":0.0,"estimated_torque_nm":-7.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09332115948200226,"velocity_rad_s":0.47093212604522705,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22609439492225647,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-3.7125000953674316,"temperature_raw":[47,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.056901101022958755,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786828409472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808921,"imu":{"quaternion":[0.9930967688560486,-0.00035995396319776773,0.01866074651479721,0.1158035546541214],"gyroscope":[0.0074568502604961395,0.015978964045643806,-0.029827401041984558],"accelerometer":[-0.44262802600860596,0.09247604012489319,9.874286651611328],"rpy":[0.0036095224786549807,0.03715577349066734,0.2322355955839157],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34496670961380005,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015450594946742058,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320682764053345,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113933801651001,"velocity_rad_s":0.004245313815772533,"acceleration_raw":0.0,"estimated_torque_nm":6.2767791748046875,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011061840690672398,"velocity_rad_s":0.013019108213484287,"acceleration_raw":0.0,"estimated_torque_nm":-0.787494421005249,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35450294613838196,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014163755811750889,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031604873947799206,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2857220470905304,"velocity_rad_s":5.8161644119536504e-05,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003647255478426814,"velocity_rad_s":-0.009255343116819859,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0076467725448310375,"velocity_rad_s":-0.2656952142715454,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022529102861881256,"velocity_rad_s":-0.0004465062520466745,"acceleration_raw":0.0,"estimated_torque_nm":-0.6874871253967285,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.017506100237369537,"velocity_rad_s":0.07804825901985168,"acceleration_raw":0.0,"estimated_torque_nm":-4.051482677459717,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151528000831604,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792190790176392,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.00777776213362813,"velocity_rad_s":-0.28378644585609436,"acceleration_raw":0.0,"estimated_torque_nm":-8.1875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10588063299655914,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06950850784778595,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.37437522411346436,"velocity_rad_s":-0.6810874938964844,"acceleration_raw":0.0,"estimated_torque_nm":-7.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09362076967954636,"velocity_rad_s":0.45712628960609436,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22615431249141693,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-3.8687500953674316,"temperature_raw":[47,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05700895935297012,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786830409344,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808932,"imu":{"quaternion":[0.99311363697052,-0.00033001811243593693,0.018718091771006584,0.1156499907374382],"gyroscope":[0.004261057358235121,0.030892664566636086,-0.03302319347858429],"accelerometer":[-0.21458032727241516,-0.017058687284588814,9.905710220336914],"rpy":[0.0036765635013580322,0.03726334497332573,0.2319280505180359],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34501785039901733,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320086121559143,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113934099674225,"velocity_rad_s":0.0021096637938171625,"acceleration_raw":0.0,"estimated_torque_nm":6.458561897277832,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011047347448766232,"velocity_rad_s":1.4362167348735966e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.7878580689430237,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546648919582367,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014180799946188927,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002986392704769969,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28568413853645325,"velocity_rad_s":0.002277857158333063,"acceleration_raw":0.0,"estimated_torque_nm":2.965700387954712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0035963330883532763,"velocity_rad_s":-0.02223016321659088,"acceleration_raw":0.0,"estimated_torque_nm":0.7955432534217834,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009695732034742832,"velocity_rad_s":-0.19712871313095093,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002566852606832981,"velocity_rad_s":0.03571430593729019,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01800067350268364,"velocity_rad_s":0.04945194348692894,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28878387808799744,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011444934643805027,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.004434163216501474,"velocity_rad_s":-0.2960582971572876,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1050177663564682,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3667052984237671,"velocity_rad_s":-0.6718835830688477,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.0977792963385582,"velocity_rad_s":0.43718454241752625,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22723288834095,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.212500095367432,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05837516114115715,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.4124999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786832345888,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808933,"imu":{"quaternion":[0.9931154847145081,-0.0003305257996544242,0.018729111179709435,0.11563195288181305],"gyroscope":[0.0031957929022610188,0.03195792809128761,-0.0372842513024807],"accelerometer":[-0.5225345492362976,0.13198037445545197,9.824906349182129],"rpy":[0.00367743126116693,0.037285417318344116,0.23189181089401245],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34501785039901733,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320086121559143,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.0026500725653022528,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.006513144355267286,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546733856201172,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002959609031677246,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2856713831424713,"velocity_rad_s":0.012992467731237411,"acceleration_raw":0.0,"estimated_torque_nm":3.054959297180176,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0035600890405476093,"velocity_rad_s":-0.02601899951696396,"acceleration_raw":0.0,"estimated_torque_nm":0.7443103790283203,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009829651564359665,"velocity_rad_s":-0.20055703818798065,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002597019774839282,"velocity_rad_s":0.027013523504137993,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018038826063275337,"velocity_rad_s":0.054974883794784546,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28875991702079773,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151048630475998,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011444934643805027,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.004206463228911161,"velocity_rad_s":-0.29759228229522705,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10496982932090759,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06937667727470398,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.366225928068161,"velocity_rad_s":-0.6734175682067871,"acceleration_raw":0.0,"estimated_torque_nm":-7.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09809088706970215,"velocity_rad_s":0.4387185275554657,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2272568643093109,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.231249809265137,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.058459050953388214,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786833967424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808934,"imu":{"quaternion":[0.9931154847145081,-0.0003305257996544242,0.018729111179709435,0.11563195288181305],"gyroscope":[0.0031957929022610188,0.03195792809128761,-0.0372842513024807],"accelerometer":[-0.5225345492362976,0.13198037445545197,9.824906349182129],"rpy":[0.00367743126116693,0.037285417318344116,0.23189181089401245],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34501785039901733,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015399462543427944,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320086121559143,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113934099674225,"velocity_rad_s":-0.0005292720743454993,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011047347448766232,"velocity_rad_s":-0.0009314750786870718,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546733856201172,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002946217078715563,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285633385181427,"velocity_rad_s":0.02058110013604164,"acceleration_raw":0.0,"estimated_torque_nm":3.054959297180176,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0034946915693581104,"velocity_rad_s":-0.04273930564522743,"acceleration_raw":0.0,"estimated_torque_nm":0.7443103790283203,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00992339476943016,"velocity_rad_s":-0.19712871313095093,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002634739503264427,"velocity_rad_s":0.020247191190719604,"acceleration_raw":0.0,"estimated_torque_nm":-0.8522891998291016,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018072184175252914,"velocity_rad_s":0.058047495782375336,"acceleration_raw":0.0,"estimated_torque_nm":-3.9986443519592285,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2887239456176758,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792789816856384,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011444934643805027,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.003954794257879257,"velocity_rad_s":-0.31139811873435974,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10493387281894684,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06938866525888443,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.36517131328582764,"velocity_rad_s":-0.6948933005332947,"acceleration_raw":0.0,"estimated_torque_nm":-7.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09879795461893082,"velocity_rad_s":0.4525243639945984,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22729282081127167,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.231249809265137,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.058518972247838974,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.45625001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786837778304,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808935,"imu":{"quaternion":[0.993119478225708,-0.0003303153207525611,0.01875043474137783,0.1155942901968956],"gyroscope":[0.004261057358235121,0.02876213565468788,-0.0372842513024807],"accelerometer":[-0.4291606545448303,0.1032499447464943,9.78719711303711],"rpy":[0.003681374480947852,0.037327878177165985,0.23181623220443726],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34500932693481445,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015390940010547638,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113934397697449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01103285327553749,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546648919582367,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029328251257538795,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28561660647392273,"velocity_rad_s":0.025880243629217148,"acceleration_raw":0.0,"estimated_torque_nm":3.054959297180176,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003480099141597748,"velocity_rad_s":-0.03537838160991669,"acceleration_raw":0.0,"estimated_torque_nm":0.7443103790283203,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010097489692270756,"velocity_rad_s":-0.15256047248840332,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026573757641017437,"velocity_rad_s":0.02412080019712448,"acceleration_raw":0.0,"estimated_torque_nm":-0.8522891998291016,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018086465075612068,"velocity_rad_s":0.047031816095113754,"acceleration_raw":0.0,"estimated_torque_nm":-3.9986443519592285,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28867602348327637,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792550206184387,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011444934643805027,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.003775030840188265,"velocity_rad_s":-0.29759228229522705,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10488593578338623,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06938866525888443,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3645481467247009,"velocity_rad_s":-0.7040972113609314,"acceleration_raw":0.0,"estimated_torque_nm":-7.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09910954535007477,"velocity_rad_s":0.4448544383049011,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22731678187847137,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.268750190734863,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05867476761341095,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786838464224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808936,"imu":{"quaternion":[0.993121325969696,-0.0003293843474239111,0.018757376819849014,0.11557728052139282],"gyroscope":[0.004261057358235121,0.02237055078148842,-0.035153720527887344],"accelerometer":[-0.4291606545448303,0.1032499447464943,9.78719711303711],"rpy":[0.003684192430227995,0.037341516464948654,0.23178204894065857],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449922800064087,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320086121559143,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.004230464342981577,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.005596031900495291,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546733856201172,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01420636661350727,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029194331727921963,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28559547662734985,"velocity_rad_s":0.026995906606316566,"acceleration_raw":0.0,"estimated_torque_nm":3.054959297180176,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0034437691792845726,"velocity_rad_s":-0.042791325598955154,"acceleration_raw":0.0,"estimated_torque_nm":0.7443103790283203,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010204624384641647,"velocity_rad_s":-0.17313042283058167,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002695088041946292,"velocity_rad_s":0.04441509023308754,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01812937669456005,"velocity_rad_s":0.043928999453783035,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.288592129945755,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792430400848389,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.003451456781476736,"velocity_rad_s":-0.2730485796928406,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10486196726560593,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3640088438987732,"velocity_rad_s":-0.7179030179977417,"acceleration_raw":0.0,"estimated_torque_nm":-7.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09943311661481857,"velocity_rad_s":0.4525243639945984,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22731678187847137,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786840102816,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808937,"imu":{"quaternion":[0.993121325969696,-0.0003293843474239111,0.018757376819849014,0.11557728052139282],"gyroscope":[0.004261057358235121,0.02237055078148842,-0.035153720527887344],"accelerometer":[-0.4291606545448303,0.1032499447464943,9.78719711303711],"rpy":[0.003684192430227995,0.037341516464948654,0.23178204894065857],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449922800064087,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015356851741671562,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008463677950203419,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.005289008840918541,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.007458982057869434,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546648919582367,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014197844080626965,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029060414526611567,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285586953163147,"velocity_rad_s":0.025938404724001884,"acceleration_raw":0.0,"estimated_torque_nm":3.054959297180176,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003414787584915757,"velocity_rad_s":-0.04463372379541397,"acceleration_raw":0.0,"estimated_torque_nm":0.7443103790283203,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010311760008335114,"velocity_rad_s":-0.1799870729446411,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027478986885398626,"velocity_rad_s":0.038618337363004684,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018172254785895348,"velocity_rad_s":0.04271893575787544,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28855618834495544,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792430400848389,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011444934643805027,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0032477250788360834,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10483799874782562,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06935270875692368,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.36349353194236755,"velocity_rad_s":-0.7102331519126892,"acceleration_raw":0.0,"estimated_torque_nm":-7.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.09970875084400177,"velocity_rad_s":0.4325825870037079,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22735273838043213,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05884254723787308,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.4937500059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786842004000,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808938,"imu":{"quaternion":[0.9931231737136841,-0.00032741622999310493,0.01875920221209526,0.11556129902601242],"gyroscope":[0.0053263213485479355,0.011717907153069973,-0.03302319347858429],"accelerometer":[-0.436343252658844,-0.05835866555571556,9.707290649414062],"rpy":[0.003687925636768341,0.03734475001692772,0.2317499816417694],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449837565422058,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008450286462903023,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.0073912483640015125,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.003761806059628725,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546648919582367,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014197844080626965,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00287925754673779,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285549134016037,"velocity_rad_s":0.02746649645268917,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033783221151679754,"velocity_rad_s":-0.03261478245258331,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010405503213405609,"velocity_rad_s":-0.16455961763858795,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027705265674740076,"velocity_rad_s":0.027992526069283485,"acceleration_raw":0.0,"estimated_torque_nm":-0.8519392013549805,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018196091055870056,"velocity_rad_s":0.03846214339137077,"acceleration_raw":0.0,"estimated_torque_nm":-3.841860294342041,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28850823640823364,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792190790176392,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01143295131623745,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.003043993143364787,"velocity_rad_s":-0.2899223864078522,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10480204969644547,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06937667727470398,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.36224716901779175,"velocity_rad_s":-0.7639224529266357,"acceleration_raw":0.0,"estimated_torque_nm":-7.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10034392029047012,"velocity_rad_s":0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22738869488239288,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-4.40625,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05891445279121399,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.42500001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786844228384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808939,"imu":{"quaternion":[0.9931272864341736,-0.0003262429963797331,0.018757419660687447,0.1155262440443039],"gyroscope":[0.0031957929022610188,0.0063915858045220375,-0.035153720527887344],"accelerometer":[-0.3977367579936981,0.06733692437410355,10.024223327636719],"rpy":[0.0036885261069983244,0.03734106570482254,0.23167937994003296],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34497523307800293,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015356851741671562,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008463677950203419,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.001062256284058094,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.003718719119206071,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546733856201172,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014214888215065002,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002865865593776107,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28553226590156555,"velocity_rad_s":0.025409653782844543,"acceleration_raw":0.0,"estimated_torque_nm":3.235156774520874,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033492727670818567,"velocity_rad_s":-0.04555492103099823,"acceleration_raw":0.0,"estimated_torque_nm":0.8490303158760071,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010606381110846996,"velocity_rad_s":-0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027780423406511545,"velocity_rad_s":0.019294563680887222,"acceleration_raw":0.0,"estimated_torque_nm":-0.8519392013549805,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01823907159268856,"velocity_rad_s":0.04031606391072273,"acceleration_raw":0.0,"estimated_torque_nm":-3.841860294342041,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2884722948074341,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792430400848389,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0027683561202138662,"velocity_rad_s":-0.30833014845848083,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10479006916284561,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06938866525888443,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.36157605051994324,"velocity_rad_s":-0.7838642001152039,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10064352303743362,"velocity_rad_s":0.43411657214164734,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22744861245155334,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.059058260172605515,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.4124999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786846434528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808940,"imu":{"quaternion":[0.9931272864341736,-0.0003262429963797331,0.018757419660687447,0.1155262440443039],"gyroscope":[0.0031957929022610188,0.0063915858045220375,-0.035153720527887344],"accelerometer":[-0.3977367579936981,0.06733692437410355,10.024223327636719],"rpy":[0.0036885261069983244,0.03734106570482254,0.23167937994003296],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34497523307800293,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008503853343427181,"velocity_rad_s":0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320256590843201,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":-0.0005292720743454993,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":-0.0009314750786870718,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546733856201172,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014223410747945309,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002852473873645067,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997268557548523,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28552380204200745,"velocity_rad_s":0.023765238001942635,"acceleration_raw":0.0,"estimated_torque_nm":3.235156774520874,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033347478602081537,"velocity_rad_s":-0.03906317800283432,"acceleration_raw":0.0,"estimated_torque_nm":0.8490303158760071,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010686732828617096,"velocity_rad_s":-0.15427464246749878,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002800663933157921,"velocity_rad_s":0.02315969578921795,"acceleration_raw":0.0,"estimated_torque_nm":-0.8522891998291016,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018272461369633675,"velocity_rad_s":0.040307436138391495,"acceleration_raw":0.0,"estimated_torque_nm":-3.9986443519592285,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28835242986679077,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979231059551239,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0023369239643216133,"velocity_rad_s":-0.30066025257110596,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1047181636095047,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06937667727470398,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.36102479696273804,"velocity_rad_s":-0.780796229839325,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10096709430217743,"velocity_rad_s":0.4463884234428406,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22747257351875305,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05910619720816612,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786848062816,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808941,"imu":{"quaternion":[0.9931288957595825,-0.0003237202763557434,0.018759503960609436,0.11551236361265182],"gyroscope":[0.0063915858045220375,0.011717907153069973,-0.02876213565468788],"accelerometer":[-0.3977367579936981,0.06733692437410355,10.024223327636719],"rpy":[0.0036935005336999893,0.03734467923641205,0.23165154457092285],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34495818614959717,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01534833014011383,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008517245762050152,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320000886917114,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":-0.0005329842679202557,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":-0.002787244040518999,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35468190908432007,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002839081920683384,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28551948070526123,"velocity_rad_s":0.019994186237454414,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003313010558485985,"velocity_rad_s":-0.03440516069531441,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010793867520987988,"velocity_rad_s":-0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002838368993252516,"velocity_rad_s":0.02122901752591133,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018324928358197212,"velocity_rad_s":0.037865739315748215,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2882925271987915,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004458131734281778,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791951179504395,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14601579308509827,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.002217081608250737,"velocity_rad_s":-0.26691266894340515,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10467022657394409,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06937667727470398,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.36047351360321045,"velocity_rad_s":-0.7562525868415833,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10132662206888199,"velocity_rad_s":0.4525243639945984,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2274845689535141,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-4.474999904632568,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05920207127928734,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786850051936,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808942,"imu":{"quaternion":[0.9931302666664124,-0.00032090290915220976,0.018763285130262375,0.11549953371286392],"gyroscope":[0.0074568502604961395,0.014913700520992279,-0.026631608605384827],"accelerometer":[-0.40132805705070496,-0.022445641458034515,9.79797077178955],"rpy":[0.00369949359446764,0.0373515859246254,0.23162584006786346],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449496626853943,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008544029667973518,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.0026240870356559753,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":-0.0064772386103868484,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3546733856201172,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028256899677217007,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2855111360549927,"velocity_rad_s":0.012417186982929707,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033129428047686815,"velocity_rad_s":-0.01953592523932457,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010887610726058483,"velocity_rad_s":-0.16455961763858795,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00286854337900877,"velocity_rad_s":0.025096971541643143,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018353525549173355,"velocity_rad_s":0.03418809175491333,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28823259472846985,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791471362113953,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0020852552261203527,"velocity_rad_s":-0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10467022657394409,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06937667727470398,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.359538733959198,"velocity_rad_s":-0.7102331519126892,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10200972855091095,"velocity_rad_s":0.4663301706314087,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22747257351875305,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.059250008314847946,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.42500001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786852305728,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808943,"imu":{"quaternion":[0.9931334257125854,-0.00031259763636626303,0.018774723634123802,0.11547113955020905],"gyroscope":[0.011717907153069973,0.01810949295759201,-0.030892664566636086],"accelerometer":[-0.5467758178710938,0.1364694982767105,9.706393241882324],"rpy":[0.0037175791803747416,0.03737250342965126,0.2315690815448761],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449411392211914,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015365374274551868,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008557421155273914,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138521432876587,"velocity_rad_s":0.003675206797197461,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011032910086214542,"velocity_rad_s":-0.008325827307999134,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35468190908432007,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027989062946289778,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2855111360549927,"velocity_rad_s":0.016095180064439774,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033129428047686815,"velocity_rad_s":-0.009385393001139164,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011061705648899078,"velocity_rad_s":-0.14741799235343933,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0028836268465965986,"velocity_rad_s":0.028959279879927635,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01837260089814663,"velocity_rad_s":0.03784848377108574,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28820863366127014,"velocity_rad_s":-0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791231751441956,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0018815234070643783,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-8.875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10465823858976364,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06936469674110413,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3590354025363922,"velocity_rad_s":-0.7102331519126892,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10239321738481522,"velocity_rad_s":0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22752051055431366,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05934588238596916,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786854224896,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808944,"imu":{"quaternion":[0.9931334257125854,-0.00031259763636626303,0.018774723634123802,0.11547113955020905],"gyroscope":[0.011717907153069973,0.01810949295759201,-0.030892664566636086],"accelerometer":[-0.5467758178710938,0.1364694982767105,9.706393241882324],"rpy":[0.0037175791803747416,0.03737250342965126,0.2315690815448761],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449411392211914,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015331286005675793,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008544029667973518,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31139761209487915,"velocity_rad_s":0.0020985272713005543,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011011084541678429,"velocity_rad_s":-0.00555294519290328,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35468190908432007,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027855143416672945,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2855110466480255,"velocity_rad_s":0.007600265555083752,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0032984858844429255,"velocity_rad_s":-0.01857137493789196,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011142057366669178,"velocity_rad_s":-0.13713301718235016,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002906255889683962,"velocity_rad_s":0.022197654470801353,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018396437168121338,"velocity_rad_s":0.03480606526136398,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2881247401237488,"velocity_rad_s":-0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791351556777954,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005764412228018045,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0013662016717717052,"velocity_rad_s":-0.2914563715457916,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10462228953838348,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06937667727470398,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3584841191768646,"velocity_rad_s":-0.7163690328598022,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10277671366930008,"velocity_rad_s":0.49087387323379517,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22758044302463531,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.059429772198200226,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786856141920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808945,"imu":{"quaternion":[0.9931352734565735,-0.0003071567043662071,0.018781952559947968,0.11545344442129135],"gyroscope":[0.013848436065018177,0.020240021869540215,-0.03621898591518402],"accelerometer":[-0.5324106216430664,-0.04578910768032074,9.684844970703125],"rpy":[0.003729400457814336,0.03738567605614662,0.2315337210893631],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34492409229278564,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008570813573896885,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35469043254852295,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002731946762651205,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997779369354248,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2855111360549927,"velocity_rad_s":0.006426439620554447,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033129428047686815,"velocity_rad_s":-0.0019030887633562088,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01124919205904007,"velocity_rad_s":-0.16627377271652222,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00298924813978374,"velocity_rad_s":0.03282346948981285,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018458358943462372,"velocity_rad_s":0.03906286135315895,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2880887985229492,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791471362113953,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0011624698527157307,"velocity_rad_s":-0.28685441613197327,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10459832102060318,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06937667727470398,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.357968807220459,"velocity_rad_s":-0.7148350477218628,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10314822942018509,"velocity_rad_s":0.5062136650085449,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22762838006019592,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05951366201043129,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.4124999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786859250624,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808946,"imu":{"quaternion":[0.9931370615959167,-0.0003027829807251692,0.018788669258356094,0.115436851978302],"gyroscope":[0.011717907153069973,0.019174758344888687,-0.034088458865880966],"accelerometer":[-0.5324106216430664,-0.04578910768032074,9.684844970703125],"rpy":[0.003739022882655263,0.037398070096969604,0.2315005213022232],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34491556882858276,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015305719338357449,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008584205061197281,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320000886917114,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.0021022395230829716,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":-0.0036971759982407093,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35469043254852295,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2855110466480255,"velocity_rad_s":0.004805289208889008,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0032984858844429255,"velocity_rad_s":0.000886519264895469,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011289368383586407,"velocity_rad_s":-0.1302763670682907,"acceleration_raw":0.0,"estimated_torque_nm":2.7405896186828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00298923347145319,"velocity_rad_s":0.024126451462507248,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018477467820048332,"velocity_rad_s":0.03969377651810646,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2880168855190277,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790992140769958,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011420967057347298,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0009707222343422472,"velocity_rad_s":-0.27765053510665894,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10458633303642273,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06938866525888443,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.35697412490844727,"velocity_rad_s":-0.6948933005332947,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10387926548719406,"velocity_rad_s":0.49087387323379517,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22765234112739563,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.059549614787101746,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786859889504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808947,"imu":{"quaternion":[0.9931390285491943,-0.0003000963479280472,0.018793178722262383,0.11541923135519028],"gyroscope":[0.008522114716470242,0.014913700520992279,-0.03621898591518402],"accelerometer":[-0.5198410153388977,-0.26665422320365906,9.642647743225098],"rpy":[0.0037447421345859766,0.03740647807717323,0.2314651906490326],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34491556882858276,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01528867520391941,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008624380454421043,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320171356201172,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35469043254852295,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2855110466480255,"velocity_rad_s":0.005310775712132454,"acceleration_raw":0.0,"estimated_torque_nm":3.0557992458343506,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0032984858844429255,"velocity_rad_s":0.005509855691343546,"acceleration_raw":0.0,"estimated_torque_nm":0.8479031920433044,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011396503075957298,"velocity_rad_s":-0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0030194150749593973,"velocity_rad_s":0.03862493112683296,"acceleration_raw":0.0,"estimated_torque_nm":-0.9017238616943359,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01849650964140892,"velocity_rad_s":0.034157894551754,"acceleration_raw":0.0,"estimated_torque_nm":-3.92029070854187,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28795695304870605,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979087233543396,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057524279691278934,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0007909588748589158,"velocity_rad_s":-0.2730485796928406,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10457435250282288,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.35653069615364075,"velocity_rad_s":-0.6657477021217346,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10421482473611832,"velocity_rad_s":0.475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22772425413131714,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0595855675637722,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786862769856,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808948,"imu":{"quaternion":[0.9931408762931824,-0.00029732685652561486,0.01879618875682354,0.1154031828045845],"gyroscope":[0.008522114716470242,0.011717907153069973,-0.03302319347858429],"accelerometer":[-0.5270236730575562,-0.13287819921970367,9.708189010620117],"rpy":[0.0037503375206142664,0.037411879748106,0.23143300414085388],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448899984359741,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015271631069481373,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008624380454421043,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320000886917114,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138521432876587,"velocity_rad_s":0.0036974800750613213,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011032910086214542,"velocity_rad_s":0.0028087873943150043,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35469043254852295,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285506933927536,"velocity_rad_s":0.007460677530616522,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00330568035133183,"velocity_rad_s":0.0036414472851902246,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011530422605574131,"velocity_rad_s":-0.1217055544257164,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003042051335796714,"velocity_rad_s":0.035735975950956345,"acceleration_raw":0.0,"estimated_torque_nm":-0.9511585831642151,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018510792404413223,"velocity_rad_s":0.02132279984652996,"acceleration_raw":0.0,"estimated_torque_nm":-3.8419368267059326,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28786107897758484,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790632724761963,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011396998539566994,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057284594513475895,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.00033555831760168076,"velocity_rad_s":-0.30372822284698486,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10455038398504257,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3560393452644348,"velocity_rad_s":-0.670349657535553,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10455038398504257,"velocity_rad_s":0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2277122586965561,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.40625,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05970541015267372,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786864824768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808949,"imu":{"quaternion":[0.9931426644325256,-0.00029635001556016505,0.01879737712442875,0.11538827419281006],"gyroscope":[0.004261057358235121,0.008522114716470242,-0.030892664566636086],"accelerometer":[-0.4174889326095581,0.09247604012489319,9.609427452087402],"rpy":[0.003751991782337427,0.0374140702188015,0.23140302300453186],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449070453643799,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015254586935043335,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00865116436034441,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319915652275085,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113934099674225,"velocity_rad_s":0.001598952803760767,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011047347448766232,"velocity_rad_s":0.008361732587218285,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3547074794769287,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002624811604619026,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285506933927536,"velocity_rad_s":0.0037245224229991436,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00330568035133183,"velocity_rad_s":0.00274625769816339,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011624165810644627,"velocity_rad_s":-0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003064671764150262,"velocity_rad_s":0.03380906209349632,"acceleration_raw":0.0,"estimated_torque_nm":-0.9511585831642151,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018544182181358337,"velocity_rad_s":0.013989077880978584,"acceleration_raw":0.0,"estimated_torque_nm":-3.8419368267059326,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2877891957759857,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790512919425964,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011396998539566994,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.000107858024421148,"velocity_rad_s":-0.3160000443458557,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10450244694948196,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.35550007224082947,"velocity_rad_s":-0.6734175682067871,"acceleration_raw":0.0,"estimated_torque_nm":-7.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10484998673200607,"velocity_rad_s":0.46786415576934814,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.227736234664917,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05977731570601463,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786866490112,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808950,"imu":{"quaternion":[0.9931443333625793,-0.0002945850428659469,0.018800849094986916,0.11537331342697144],"gyroscope":[0.0063915858045220375,0.012783171609044075,-0.030892664566636086],"accelerometer":[-0.47315409779548645,-0.021547814831137657,9.798869132995605],"rpy":[0.0037557382602244616,0.037420619279146194,0.23137302696704865],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448899984359741,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01522902026772499,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008637772873044014,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320000886917114,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":-0.0015729673905298114,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.0046286508440971375,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3547160029411316,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014257499016821384,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002611419651657343,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285506933927536,"velocity_rad_s":0.0064380718395113945,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00330568035133183,"velocity_rad_s":-0.003754157107323408,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011704516597092152,"velocity_rad_s":-0.12513387203216553,"acceleration_raw":0.0,"estimated_torque_nm":2.7405896186828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003072217106819153,"velocity_rad_s":0.028010424226522446,"acceleration_raw":0.0,"estimated_torque_nm":-1.0005933046340942,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01854894310235977,"velocity_rad_s":0.01522502489387989,"acceleration_raw":0.0,"estimated_torque_nm":-3.763582944869995,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2877172827720642,"velocity_rad_s":-0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790512919425964,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14602778851985931,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011385014280676842,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-8.388957940042019e-05,"velocity_rad_s":-0.30372822284698486,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10451442748308182,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06938866525888443,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.35448139905929565,"velocity_rad_s":-0.676485538482666,"acceleration_raw":0.0,"estimated_torque_nm":-7.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10550911724567413,"velocity_rad_s":0.4632622301578522,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.227736234664917,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05982525274157524,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786868146144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808951,"imu":{"quaternion":[0.9931461811065674,-0.00029301110771484673,0.018805421888828278,0.11535678058862686],"gyroscope":[0.0063915858045220375,0.014913700520992279,-0.034088458865880966],"accelerometer":[-0.47315409779548645,-0.021547814831137657,9.798869132995605],"rpy":[0.0037593008019030094,0.037429407238960266,0.23133981227874756],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34487298130989075,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015246064402163029,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008691340684890747,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319915652275085,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31138932704925537,"velocity_rad_s":-0.0026352237910032272,"acceleration_raw":0.0,"estimated_torque_nm":6.549805164337158,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011040128767490387,"velocity_rad_s":0.0009099317248910666,"acceleration_raw":0.0,"estimated_torque_nm":-0.8397031426429749,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3547245264053345,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0025980276986956596,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28550684452056885,"velocity_rad_s":0.0027019171975553036,"acceleration_raw":0.0,"estimated_torque_nm":3.1450581550598145,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003291223431006074,"velocity_rad_s":-0.004649346228688955,"acceleration_raw":0.0,"estimated_torque_nm":0.7966703176498413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01177147589623928,"velocity_rad_s":-0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003102398943156004,"velocity_rad_s":0.030908802524209023,"acceleration_raw":0.0,"estimated_torque_nm":-0.9511585831642151,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01856798492372036,"velocity_rad_s":0.015830056741833687,"acceleration_raw":0.0,"estimated_torque_nm":-3.8419368267059326,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28765735030174255,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151288241147995,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790273308753967,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011408982798457146,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.00028762139845639467,"velocity_rad_s":-0.29759228229522705,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10451442748308182,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.35401400923728943,"velocity_rad_s":-0.670349657535553,"acceleration_raw":0.0,"estimated_torque_nm":-7.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10576079040765762,"velocity_rad_s":0.44332045316696167,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22774821519851685,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.462500095367432,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.059909142553806305,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4124999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786870353984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808956,"imu":{"quaternion":[0.9931589961051941,-0.000280392705462873,0.018858373165130615,0.11523731052875519],"gyroscope":[0.0031957929022610188,0.02556634321808815,-0.03941477835178375],"accelerometer":[-0.5099649429321289,0.06015431880950928,9.834781646728516],"rpy":[0.003792106406763196,0.03753215819597244,0.23110026121139526],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34487298130989075,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015169365331530571,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00881186779588461,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319489479064941,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31136050820350647,"velocity_rad_s":0.006317855324596167,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011018565855920315,"velocity_rad_s":-0.005524220876395702,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.354758620262146,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0024373249616473913,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285460501909256,"velocity_rad_s":0.02041824720799923,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0032257763668894768,"velocity_rad_s":-0.016824347898364067,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012240192852914333,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0033513978123664856,"velocity_rad_s":0.03573126345872879,"acceleration_raw":0.0,"estimated_torque_nm":-1.0005933046340942,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018725082278251648,"velocity_rad_s":0.027437830343842506,"acceleration_raw":0.0,"estimated_torque_nm":-3.763582944869995,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28718996047973633,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9788954854011536,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011396998539566994,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0019773971289396286,"velocity_rad_s":-0.2991262674331665,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10435863584280014,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3504546880722046,"velocity_rad_s":-0.6458059549331665,"acceleration_raw":0.0,"estimated_torque_nm":-7.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1080138236284256,"velocity_rad_s":0.4387185275554657,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22788004577159882,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.550000190734863,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.060388509184122086,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.42500001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786871976576,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808957,"imu":{"quaternion":[0.9931589961051941,-0.000280392705462873,0.018858373165130615,0.11523731052875519],"gyroscope":[0.0031957929022610188,0.02556634321808815,-0.03941477835178375],"accelerometer":[-0.5099649429321289,0.06015431880950928,9.834781646728516],"rpy":[0.003792106406763196,0.03753215819597244,0.23110026121139526],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34486445784568787,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015177887864410877,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008852043189108372,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319319009780884,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113563656806946,"velocity_rad_s":0.010015335865318775,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011025859043002129,"velocity_rad_s":-0.0027154337149113417,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3547671437263489,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002423933008685708,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854519486427307,"velocity_rad_s":0.018303243443369865,"acceleration_raw":0.0,"estimated_torque_nm":3.324415683746338,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031967766117304564,"velocity_rad_s":-0.0205091442912817,"acceleration_raw":0.0,"estimated_torque_nm":0.797797441482544,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0122669767588377,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003366488730534911,"velocity_rad_s":0.03669613227248192,"acceleration_raw":0.0,"estimated_torque_nm":-0.9511585831642151,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018734604120254517,"velocity_rad_s":0.02927018329501152,"acceleration_raw":0.0,"estimated_torque_nm":-3.8419368267059326,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2871180772781372,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9788236021995544,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01137303002178669,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.002253034384921193,"velocity_rad_s":-0.32520392537117004,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10431069880723953,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34943604469299316,"velocity_rad_s":-0.6626797318458557,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10832541435956955,"velocity_rad_s":0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22795194387435913,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-4.493750095367432,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.060448430478572845,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786873916480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808958,"imu":{"quaternion":[0.9931608438491821,-0.00028238038066774607,0.018870871514081955,0.11521929502487183],"gyroscope":[0.0010652643395587802,0.030892664566636086,-0.0372842513024807],"accelerometer":[-0.5270236730575562,0.2082955539226532,9.355342864990234],"rpy":[0.003790360176935792,0.03755751997232437,0.2310640513896942],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448388874530792,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015135277062654495,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008852043189108372,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319233775138855,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31136462092399597,"velocity_rad_s":0.002128225052729249,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011025785468518734,"velocity_rad_s":0.009293207898736,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35477566719055176,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002397149335592985,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997694134712219,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854393720626831,"velocity_rad_s":0.011865171603858471,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031894464045763016,"velocity_rad_s":-0.016754986718297005,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012320543639361858,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0033966705668717623,"velocity_rad_s":0.043461527675390244,"acceleration_raw":0.0,"estimated_torque_nm":-1.0503779649734497,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018753645941615105,"velocity_rad_s":0.02742057479918003,"acceleration_raw":0.0,"estimated_torque_nm":-3.842013120651245,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2870461642742157,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21516478061676025,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004458131734281778,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9788236021995544,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01137303002178669,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057284594513475895,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0024807346053421497,"velocity_rad_s":-0.323669970035553,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10432267934083939,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34896865487098694,"velocity_rad_s":-0.6718835830688477,"acceleration_raw":0.0,"estimated_torque_nm":-7.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1089126393198967,"velocity_rad_s":0.4187767803668976,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22807179391384125,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.060508351773023605,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786875519584,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808959,"imu":{"quaternion":[0.9931648969650269,-0.00028477259911596775,0.018890440464019775,0.11518056690692902],"gyroscope":[0.0031957929022610188,0.024501079693436623,-0.04048004373908043],"accelerometer":[-0.3770867586135864,-0.16430209577083588,10.025120735168457],"rpy":[0.0037886574864387512,0.03759710490703583,0.23098617792129517],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015135277062654495,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008852043189108372,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319404244422913,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135642528533936,"velocity_rad_s":0.0005255598807707429,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01101134717464447,"velocity_rad_s":-0.0009242939995601773,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35478419065475464,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002383757382631302,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854352295398712,"velocity_rad_s":0.008646135218441486,"acceleration_raw":0.0,"estimated_torque_nm":3.324415683746338,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003196659032255411,"velocity_rad_s":-0.014877907931804657,"acceleration_raw":0.0,"estimated_torque_nm":0.797797441482544,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012454463168978691,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003419306827709079,"velocity_rad_s":0.03766665607690811,"acceleration_raw":0.0,"estimated_torque_nm":-1.0503779649734497,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01876792684197426,"velocity_rad_s":0.02376449853181839,"acceleration_raw":0.0,"estimated_torque_nm":-3.842013120651245,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28696227073669434,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9787756204605103,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011349061504006386,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057284594513475895,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.002660498023033142,"velocity_rad_s":-0.30372822284698486,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10427474230527878,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06938866525888443,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3485012650489807,"velocity_rad_s":-0.644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-7.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10924819856882095,"velocity_rad_s":0.4187767803668976,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22809575498104095,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[46,37],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06067613139748573,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.42500001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786877443072,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808960,"imu":{"quaternion":[0.9931668639183044,-0.0002849184675142169,0.01889859326183796,0.11516248434782028],"gyroscope":[0.004261057358235121,0.02237055078148842,-0.0372842513024807],"accelerometer":[-0.3770867586135864,-0.16430209577083588,10.025120735168457],"rpy":[0.0037895638961344957,0.0376134067773819,0.23094983398914337],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01510118879377842,"velocity_rad_s":0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008852043189108372,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319319009780884,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135228276252747,"velocity_rad_s":-0.0010585441486909986,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011018640361726284,"velocity_rad_s":-0.0018629501573741436,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3548097610473633,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023703654296696186,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854309380054474,"velocity_rad_s":0.01238228939473629,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031749217305332422,"velocity_rad_s":-0.01398271881043911,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01252142246812582,"velocity_rad_s":-0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":2.7405896186828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0034721235278993845,"velocity_rad_s":0.04056691750884056,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018801249563694,"velocity_rad_s":0.021923517808318138,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2867944836616516,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21514080464839935,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9787396788597107,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011361045762896538,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057284594513475895,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.003043993143364787,"velocity_rad_s":-0.2929903566837311,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10427474230527878,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06940064579248428,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34806984663009644,"velocity_rad_s":-0.630466103553772,"acceleration_raw":0.0,"estimated_torque_nm":-7.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10952383279800415,"velocity_rad_s":0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22814369201660156,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-4.462500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06072406843304634,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786884507136,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808961,"imu":{"quaternion":[0.9931668639183044,-0.0002849184675142169,0.01889859326183796,0.11516248434782028],"gyroscope":[0.004261057358235121,0.02237055078148842,-0.0372842513024807],"accelerometer":[-0.3770867586135864,-0.16430209577083588,10.025120735168457],"rpy":[0.0037895638961344957,0.0376134067773819,0.23094983398914337],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015126754529774189,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008865434676408768,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319319009780884,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113522529602051,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011033134534955025,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35482680797576904,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002316797850653529,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854391932487488,"velocity_rad_s":0.004416126292198896,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031605323310941458,"velocity_rad_s":-0.022247502580285072,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01258838176727295,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":2.7965199947357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003494759788736701,"velocity_rad_s":0.034768279641866684,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018815532326698303,"velocity_rad_s":0.023159464821219444,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28675854206085205,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21516478061676025,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9786677956581116,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011361045762896538,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0032836776226758957,"velocity_rad_s":-0.3067961633205414,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10427474230527878,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06942461431026459,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34712308645248413,"velocity_rad_s":-0.6258642077445984,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.10982344299554825,"velocity_rad_s":0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22819162905216217,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-4.462500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0607839897274971,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786885176640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808962,"imu":{"quaternion":[0.9931687116622925,-0.0002829574514180422,0.018906960263848305,0.11514540761709213],"gyroscope":[0.008522114716470242,0.02237055078148842,-0.035153720527887344],"accelerometer":[-0.39863458275794983,-0.06733692437410355,9.560047149658203],"rpy":[0.003794745309278369,0.03762964531779289,0.2309156209230423],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01510118879377842,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008892218582332134,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319319009780884,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135231256484985,"velocity_rad_s":-0.0010808175429701805,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011004128493368626,"velocity_rad_s":-0.012997563928365707,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3548097610473633,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023034061305224895,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28542670607566833,"velocity_rad_s":0.0006101776380091906,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031676592770963907,"velocity_rad_s":-0.012036280706524849,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012615165673196316,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":2.7405896186828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0035249488428235054,"velocity_rad_s":0.033802468329668045,"acceleration_raw":0.0,"estimated_torque_nm":-1.0503779649734497,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018825018778443336,"velocity_rad_s":0.022550120949745178,"acceleration_raw":0.0,"estimated_torque_nm":-3.842013120651245,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28668662905693054,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151528000831604,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9786677956581116,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011337077245116234,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057284594513475895,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.003511378075927496,"velocity_rad_s":-0.30066025257110596,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10426276177167892,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06941263377666473,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3466796576976776,"velocity_rad_s":-0.6289321780204773,"acceleration_raw":0.0,"estimated_torque_nm":-7.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11035074293613434,"velocity_rad_s":0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22826354205608368,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06084391102194786,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786885814144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808963,"imu":{"quaternion":[0.9931727051734924,-0.00027338627842254937,0.018930939957499504,0.11510736495256424],"gyroscope":[0.017044229432940483,0.029827401041984558,-0.03941477835178375],"accelerometer":[-0.5054758191108704,-0.042197804898023605,9.755773544311523],"rpy":[0.003817859571427107,0.03767523542046547,0.23083966970443726],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015135277062654495,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008892218582332134,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319148540496826,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135642528533936,"velocity_rad_s":0.0010399831226095557,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01101134717464447,"velocity_rad_s":-0.0074158948846161366,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3548353314399719,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014223410747945309,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0022900141775608063,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28542661666870117,"velocity_rad_s":-0.0015048269415274262,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031532023567706347,"velocity_rad_s":-0.015721077099442482,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012682124972343445,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0035475778859108686,"velocity_rad_s":0.03380435332655907,"acceleration_raw":0.0,"estimated_torque_nm":-1.0009433031082153,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018848855048418045,"velocity_rad_s":0.02010410837829113,"acceleration_raw":0.0,"estimated_torque_nm":-3.9203670024871826,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28661471605300903,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2151528000831604,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9786438345909119,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011337077245116234,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005716475658118725,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0037151097785681486,"velocity_rad_s":-0.30526217818260193,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10425077378749847,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06942461431026459,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3462122976779938,"velocity_rad_s":-0.6166602969169617,"acceleration_raw":0.0,"estimated_torque_nm":-7.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11062638461589813,"velocity_rad_s":0.3773593008518219,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2282875031232834,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-4.506249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06097573786973953,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786886440864,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808964,"imu":{"quaternion":[0.9931727051734924,-0.00027338627842254937,0.018930939957499504,0.11510736495256424],"gyroscope":[0.017044229432940483,0.029827401041984558,-0.03941477835178375],"accelerometer":[-0.5054758191108704,-0.042197804898023605,9.755773544311523],"rpy":[0.003817859571427107,0.03767523542046547,0.23083966970443726],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34482184052467346,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015118232928216457,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008905611000955105,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319148540496826,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113563656806946,"velocity_rad_s":0.0015841040294617414,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011025859043002129,"velocity_rad_s":0.0009386561578139663,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3548608720302582,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0022632302716374397,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854308485984802,"velocity_rad_s":0.0015978856245055795,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003160464810207486,"velocity_rad_s":0.00091252924175933,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012708908878266811,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0036079410929232836,"velocity_rad_s":0.042494773864746094,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01888693869113922,"velocity_rad_s":0.028034234419465065,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28645893931388855,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21516478061676025,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9786078929901123,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011325092986226082,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057284594513475895,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.00407463638111949,"velocity_rad_s":-0.2761165499687195,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10423879325389862,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06943660229444504,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3457808494567871,"velocity_rad_s":-0.6120583415031433,"acceleration_raw":0.0,"estimated_torque_nm":-7.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11089003831148148,"velocity_rad_s":0.3712233603000641,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22829948365688324,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.518750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.061047643423080444,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786887065472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808965,"imu":{"quaternion":[0.9931745529174805,-0.0002670144895091653,0.018942518159747124,0.1150885671377182],"gyroscope":[0.01810949295759201,0.027696872130036354,-0.038349516689777374],"accelerometer":[-0.3645172119140625,-0.08259996026754379,9.744999885559082],"rpy":[0.003832482732832432,0.03769683837890625,0.23080214858055115],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015118232928216457,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008905611000955105,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319063305854797,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135642528533936,"velocity_rad_s":-0.002117088297381997,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01101134717464447,"velocity_rad_s":-0.003725900314748287,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35486939549446106,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0022230546455830336,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28542256355285645,"velocity_rad_s":0.004770392552018166,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031748719047755003,"velocity_rad_s":0.006439724937081337,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012749084271490574,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0036532138474285603,"velocity_rad_s":0.042488180100917816,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018915502354502678,"velocity_rad_s":0.03659527748823166,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2863750457763672,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21518874168395996,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9785359501838684,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011325092986226082,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057284594513475895,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.004266384057700634,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10420283675193787,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06941263377666473,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3448340892791748,"velocity_rad_s":-0.6197282671928406,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11114170402288437,"velocity_rad_s":0.37889325618743896,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22834742069244385,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-4.518750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.061107564717531204,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.45625001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786889350080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808966,"imu":{"quaternion":[0.9931764006614685,-0.00026251503732055426,0.018951648846268654,0.11507140100002289],"gyroscope":[0.013848436065018177,0.023435814306139946,-0.035153720527887344],"accelerometer":[-0.3645172119140625,-0.08259996026754379,9.744999885559082],"rpy":[0.0038428804837167263,0.037714019417762756,0.2307678461074829],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01510118879377842,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319063305854797,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135228276252747,"velocity_rad_s":-0.0021022395230829716,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011018640361726284,"velocity_rad_s":0.0036971759982407093,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35486939549446106,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014223410747945309,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0022096626926213503,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854182720184326,"velocity_rad_s":0.004828553646802902,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031531164422631264,"velocity_rad_s":-0.0028156177140772343,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012789260596036911,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00367585732601583,"velocity_rad_s":0.03766665607690811,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018920229747891426,"velocity_rad_s":0.02376449853181839,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2863271236419678,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21518874168395996,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9785119891166687,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01131310872733593,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005716475658118725,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":-0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10420283675193787,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06944858282804489,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3443666994571686,"velocity_rad_s":-0.6320000886917114,"acceleration_raw":0.0,"estimated_torque_nm":-7.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11164504289627075,"velocity_rad_s":0.37582531571388245,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22846727073192596,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.53125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.061167486011981964,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786891010528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808967,"imu":{"quaternion":[0.9931797981262207,-0.00025555421598255634,0.018966814503073692,0.11503978818655014],"gyroscope":[0.008522114716470242,0.021305285394191742,-0.03302319347858429],"accelerometer":[-0.3878606855869293,-0.043095629662275314,9.716269493103027],"rpy":[0.003859011922031641,0.03774267062544823,0.23070460557937622],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015084144659340382,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008945786394178867,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631889283657074,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31134819984436035,"velocity_rad_s":-0.000536696461495012,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010996909812092781,"velocity_rad_s":-0.00464301323518157,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3548864424228668,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0022096626926213503,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997438430786133,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28542661666870117,"velocity_rad_s":-0.0005403834511525929,"acceleration_raw":0.0,"estimated_torque_nm":3.324415683746338,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031532023567706347,"velocity_rad_s":0.0009298692457377911,"acceleration_raw":0.0,"estimated_torque_nm":0.797797441482544,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012883003801107407,"velocity_rad_s":-0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0036984935868531466,"velocity_rad_s":0.03573409095406532,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01893451064825058,"velocity_rad_s":0.02376881241798401,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28625521063804626,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.215200737118721,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784640669822693,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011301124468445778,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005716475658118725,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.004637895151972771,"velocity_rad_s":-0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10416688770055771,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06944858282804489,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34385138750076294,"velocity_rad_s":-0.6381360292434692,"acceleration_raw":0.0,"estimated_torque_nm":-7.875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11188472807407379,"velocity_rad_s":0.35128161311149597,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22855116426944733,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.474999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.061299312859773636,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786893700256,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808968,"imu":{"quaternion":[0.9931797981262207,-0.00025555421598255634,0.018966814503073692,0.11503978818655014],"gyroscope":[0.008522114716470242,0.021305285394191742,-0.03302319347858429],"accelerometer":[-0.3878606855869293,-0.043095629662275314,9.716269493103027],"rpy":[0.003859011922031641,0.03774267062544823,0.23070460557937622],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34482184052467346,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015092666260898113,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631889283657074,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135228276252747,"velocity_rad_s":0.0005255598807707429,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011018640361726284,"velocity_rad_s":-0.0009242939995601773,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3548864424228668,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0022096626926213503,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854182720184326,"velocity_rad_s":0.0053224083967506886,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031531164422631264,"velocity_rad_s":0.0036587873473763466,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012909787707030773,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003721129847690463,"velocity_rad_s":0.03669895976781845,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018948793411254883,"velocity_rad_s":0.025601165369153023,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28608742356300354,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21521271765232086,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784760475158691,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011325092986226082,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005704491399228573,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":-0.30066025257110596,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10407101362943649,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06946057081222534,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34332409501075745,"velocity_rad_s":-0.6626797318458557,"acceleration_raw":0.0,"estimated_torque_nm":-7.9375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11211242526769638,"velocity_rad_s":0.34514570236206055,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22864703834056854,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06137121841311455,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786895319744,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808969,"imu":{"quaternion":[0.9931814670562744,-0.0002515139349270612,0.018975693732500076,0.11502422392368317],"gyroscope":[0.012783171609044075,0.023435814306139946,-0.03195792809128761],"accelerometer":[-0.3330933153629303,-0.11043255031108856,9.742305755615234],"rpy":[0.003868497209623456,0.0377594456076622,0.23067355155944824],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448047935962677,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015067100524902344,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631889283657074,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135228276252747,"velocity_rad_s":0.0010548318969085813,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011018640361726284,"velocity_rad_s":7.181083674367983e-06,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3548949658870697,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014223410747945309,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002156095113605261,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28541818261146545,"velocity_rad_s":0.002760078990831971,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031386595219373703,"velocity_rad_s":-0.013904688879847527,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012923179194331169,"velocity_rad_s":-0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0037815007381141186,"velocity_rad_s":0.04153461381793022,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018977321684360504,"velocity_rad_s":0.020086850970983505,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2860274910926819,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21523667871952057,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784161448478699,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011301124468445778,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005716475658118725,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":-0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10407101362943649,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06946057081222534,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34277281165122986,"velocity_rad_s":-0.6918253898620605,"acceleration_raw":0.0,"estimated_torque_nm":-7.875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11232814192771912,"velocity_rad_s":0.3328738510608673,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22869497537612915,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-4.462500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06143113970756531,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.48124998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786883124608,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":17152,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 111, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 329, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 259, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 5398624, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":111,"normal_force2":0,"normal_force3":0,"self_proximity1":5398624,"self_proximity2":0,"status":5632,"tangential_direction1":259,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":329,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 33, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 28, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 288, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 3053724, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":33,"normal_force2":0,"normal_force3":0,"self_proximity1":3053724,"self_proximity2":0,"status":4608,"tangential_direction1":288,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":28,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 904182, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":904182,"self_proximity2":0,"status":4608,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 21, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 9, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 17, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 3320974, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":21,"normal_force2":0,"normal_force3":0,"self_proximity1":3320974,"self_proximity2":0,"status":15872,"tangential_direction1":17,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":9,"tangential_force2":0,"tangential_force3":0}],"touch_metric":329.0,"controller_state_before":"closing"} +{"timestamp_monotonic_ns":786897587296,"stream":"brainco.motor","data":{"currents":[10,-101,19,1,-18,2],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [10, -101, 19, 1, -18, 2],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":786898051488,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":0,"trigger_arm":false,"release_arm":false,"entered_hold":true,"event":"pressure_limit_reached","touch_metric":329.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.09789134837962964}} +{"timestamp_monotonic_ns":786899432032,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808970,"imu":{"quaternion":[0.9931832551956177,-0.00025064044166356325,0.018984127789735794,0.1150071769952774],"gyroscope":[0.0063915858045220375,0.023435814306139946,-0.035153720527887344],"accelerometer":[-0.3321954905986786,0.010773907415568829,9.624691009521484],"rpy":[0.0038715293630957603,0.037776075303554535,0.23063933849334717],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448133170604706,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015058577992022038,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008959177881479263,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318807601928711,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31134819984436035,"velocity_rad_s":0.0026352237910032272,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":53.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010996909812092781,"velocity_rad_s":-0.0009099317248910666,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3548949658870697,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0021427033934742212,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997523665428162,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854223847389221,"velocity_rad_s":-0.0021033722441643476,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003145921975374222,"velocity_rad_s":-0.005535865668207407,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012963354587554932,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0037890388630330563,"velocity_rad_s":0.044431108981370926,"acceleration_raw":0.0,"estimated_torque_nm":-1.1001626253128052,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.018991637974977493,"velocity_rad_s":0.0231378972530365,"acceleration_raw":0.0,"estimated_torque_nm":-3.920443534851074,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2859436273574829,"velocity_rad_s":-0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21521271765232086,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9783681631088257,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011301124468445778,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005716475658118725,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.005440838169306517,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10407101362943649,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06944858282804489,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3417661488056183,"velocity_rad_s":-0.6611457467079163,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11284346133470535,"velocity_rad_s":0.3328738510608673,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.228706955909729,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-4.53125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06149106100201607,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.45625001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786900086208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808971,"imu":{"quaternion":[0.9931849241256714,-0.0002496275119483471,0.018991973251104355,0.11499118059873581],"gyroscope":[0.0063915858045220375,0.02237055078148842,-0.03302319347858429],"accelerometer":[-0.3321954905986786,0.010773907415568829,9.624691009521484],"rpy":[0.0038747426588088274,0.03779149055480957,0.23060724139213562],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448047935962677,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015033011324703693,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008945786394178867,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318722367286682,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135231256484985,"velocity_rad_s":0.0005218476289883256,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011004128493368626,"velocity_rad_s":-0.0027800630778074265,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549034893512726,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002129311440512538,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997779369354248,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2854223847389221,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003145921975374222,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012990138493478298,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0038343260530382395,"velocity_rad_s":0.05409487709403038,"acceleration_raw":0.0,"estimated_torque_nm":-1.199381947517395,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01900109089910984,"velocity_rad_s":0.021893322467803955,"acceleration_raw":0.0,"estimated_torque_nm":-3.9205198287963867,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2858717143535614,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21524867415428162,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9783202409744263,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011289140209555626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005716475658118725,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.005608617328107357,"velocity_rad_s":-0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":-9.0625,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10404704511165619,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0694725513458252,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34129875898361206,"velocity_rad_s":-0.6519418358802795,"acceleration_raw":0.0,"estimated_torque_nm":-7.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11304719746112823,"velocity_rad_s":0.3328738510608673,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22883878648281097,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-4.5625,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06162288784980774,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.45625001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786901966496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808972,"imu":{"quaternion":[0.9931864738464355,-0.00025169935543090105,0.018998494371771812,0.11497685313224792],"gyroscope":[-0.0,0.020240021869540215,-0.029827401041984558],"accelerometer":[-0.5090671181678772,-0.08978256583213806,9.643545150756836],"rpy":[0.003871581284329295,0.0378049798309803,0.23057837784290314],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3447962701320648,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015033011324703693,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008972570300102234,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318722367286682,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31134817004203796,"velocity_rad_s":0.00476344907656312,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01101142168045044,"velocity_rad_s":0.00838327594101429,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35491201281547546,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0021025275345891714,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997864603996277,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28541818261146545,"velocity_rad_s":0.007495574187487364,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031386595219373703,"velocity_rad_s":-0.001911758678033948,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013043706305325031,"velocity_rad_s":-0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0038720457814633846,"velocity_rad_s":0.055055975914001465,"acceleration_raw":0.0,"estimated_torque_nm":-1.1499472856521606,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019034449011087418,"velocity_rad_s":0.028617696836590767,"acceleration_raw":0.0,"estimated_torque_nm":-3.998873710632324,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2857039272785187,"velocity_rad_s":-0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21524867415428162,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9782723188400269,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011265171691775322,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005716475658118725,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.005968144163489342,"velocity_rad_s":-0.26691266894340515,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10397513955831528,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06946057081222534,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3407954275608063,"velocity_rad_s":-0.6427379846572876,"acceleration_raw":0.0,"estimated_torque_nm":-7.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11329886317253113,"velocity_rad_s":0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22892266511917114,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.506249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06169478967785835,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.42500001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786903558144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808973,"imu":{"quaternion":[0.9931877255439758,-0.00025413898401893675,0.019005151465535164,0.11496466398239136],"gyroscope":[-0.0010652643395587802,0.020240021869540215,-0.02556634321808815],"accelerometer":[-0.5880758166313171,0.08619125932455063,9.600449562072754],"rpy":[0.003867801744490862,0.03781881555914879,0.23055382072925568],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34477922320365906,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015033011324703693,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008972570300102234,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318722367286682,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31135228276252747,"velocity_rad_s":0.0036974800750613213,"acceleration_raw":0.0,"estimated_torque_nm":6.822127342224121,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011018640361726284,"velocity_rad_s":0.0028087873943150043,"acceleration_raw":0.0,"estimated_torque_nm":-0.7885853052139282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549034893512726,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002089135814458132,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599760890007019,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28542229533195496,"velocity_rad_s":0.004828553646802902,"acceleration_raw":0.0,"estimated_torque_nm":3.234316825866699,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003131464822217822,"velocity_rad_s":-0.0028156177140772343,"acceleration_raw":0.0,"estimated_torque_nm":0.745437502861023,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013043706305325031,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0039399536326527596,"velocity_rad_s":0.04442828148603439,"acceleration_raw":0.0,"estimated_torque_nm":-1.1499472856521606,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01907729171216488,"velocity_rad_s":0.026806915178894997,"acceleration_raw":0.0,"estimated_torque_nm":-3.998873710632324,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28560805320739746,"velocity_rad_s":-0.13038837909698486,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9782243967056274,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01125318743288517,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005716475658118725,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.00618386035785079,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10391521453857422,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0694725513458252,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3403160572052002,"velocity_rad_s":-0.6504078507423401,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11353854835033417,"velocity_rad_s":0.33594179153442383,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.22901853919029236,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.462500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.061766695231199265,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.42500001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786905450624,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808992,"imu":{"quaternion":[0.9932004809379578,-0.00019380543380975723,0.01908894069492817,0.11484114080667496],"gyroscope":[0.0074568502604961395,0.026631608605384827,-0.0021305286791175604],"accelerometer":[-0.3932476341724396,-0.17148469388484955,9.825803756713867],"rpy":[0.0040023112669587135,0.03797192871570587,0.23030830919742584],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344668447971344,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014879613183438778,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318466663360596,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112700879573822,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":7.18569278717041,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01090321596711874,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.7893126010894775,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549034893512726,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014300109818577766,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999143123626709,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28533822298049927,"velocity_rad_s":0.0026670200750231743,"acceleration_raw":0.0,"estimated_torque_nm":3.5938720703125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030440273694694042,"velocity_rad_s":0.0009038591524586082,"acceleration_raw":0.0,"estimated_torque_nm":0.8512845039367676,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013472246937453747,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004686916247010231,"velocity_rad_s":0.041499942541122437,"acceleration_raw":0.0,"estimated_torque_nm":-1.2547786235809326,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019519580528140068,"velocity_rad_s":0.03345680981874466,"acceleration_raw":0.0,"estimated_torque_nm":-4.002830982208252,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28378644585609436,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21536850929260254,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774214029312134,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010929613374173641,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.010989534668624401,"velocity_rad_s":-0.2791845202445984,"acceleration_raw":0.0,"estimated_torque_nm":-9.3125,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10277671366930008,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0698200985789299,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.33011746406555176,"velocity_rad_s":-0.5292233824729919,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11957859992980957,"velocity_rad_s":0.30833014845848083,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23189476132392883,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06344448775053024,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.48124998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786907319616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808993,"imu":{"quaternion":[0.9932001829147339,-0.00019322836305946112,0.01910150796175003,0.11484156548976898],"gyroscope":[0.0053263213485479355,0.029827401041984558,-0.0],"accelerometer":[-0.37080198526382446,-0.08708908408880234,9.883264541625977],"rpy":[0.004006367176771164,0.037996768951416016,0.2303093522787094],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3446599245071411,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014888135716319084,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008972570300102234,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318466663360596,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112701177597046,"velocity_rad_s":0.002105951542034745,"acceleration_raw":0.0,"estimated_torque_nm":7.18569278717041,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01088872179389,"velocity_rad_s":-0.0018414068035781384,"acceleration_raw":0.0,"estimated_torque_nm":-0.7893126010894775,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549034893512726,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014308631420135498,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599905788898468,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285342276096344,"velocity_rad_s":0.0021499013528227806,"acceleration_raw":0.0,"estimated_torque_nm":3.6831307411193848,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030223578214645386,"velocity_rad_s":-0.0018684084061533213,"acceleration_raw":0.0,"estimated_torque_nm":0.8000516295433044,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013499030843377113,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004701999481767416,"velocity_rad_s":0.03570662438869476,"acceleration_raw":0.0,"estimated_torque_nm":-1.3046799898147583,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019529074430465698,"velocity_rad_s":0.031033441424369812,"acceleration_raw":0.0,"estimated_torque_nm":-4.081347465515137,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28373852372169495,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21536850929260254,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977373480796814,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01091762911528349,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.011229218915104866,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-9.25,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10269282758235931,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06988001614809036,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.32935047149658203,"velocity_rad_s":-0.5353593230247498,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11985423415899277,"velocity_rad_s":0.3267379105091095,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23208650946617126,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06349242478609085,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.45625001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786909634304,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808994,"imu":{"quaternion":[0.9931997656822205,-0.0001927327539306134,0.01911085471510887,0.11484304070472717],"gyroscope":[0.004261057358235121,0.023435814306139946,0.0021305286791175604],"accelerometer":[-0.5315127968788147,0.04399345442652702,9.76205825805664],"rpy":[0.004009561147540808,0.038015216588974,0.23031245172023773],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344668447971344,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014879613183438778,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318381428718567,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311261922121048,"velocity_rad_s":0.007361550349742174,"acceleration_raw":0.0,"estimated_torque_nm":7.458015441894531,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01087428443133831,"velocity_rad_s":-0.011084347032010555,"acceleration_raw":0.0,"estimated_torque_nm":-0.7381947636604309,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549034893512726,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014308631420135498,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999228358268738,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853298783302307,"velocity_rad_s":0.011243361048400402,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003043959615752101,"velocity_rad_s":-0.002867637202143669,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01352581474930048,"velocity_rad_s":-0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00473971851170063,"velocity_rad_s":0.04247385263442993,"acceleration_raw":0.0,"estimated_torque_nm":-1.3046799898147583,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01954326033592224,"velocity_rad_s":0.026732511818408966,"acceleration_raw":0.0,"estimated_torque_nm":-4.081347465515137,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28369057178497314,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2153804898262024,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773375391960144,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010869692079722881,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.38749998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.011408982798457146,"velocity_rad_s":-0.2715146243572235,"acceleration_raw":0.0,"estimated_torque_nm":-9.25,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1025969535112381,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06990398466587067,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.328978955745697,"velocity_rad_s":-0.5322913527488708,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1203935295343399,"velocity_rad_s":0.3528155982494354,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23233817517757416,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06355234980583191,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.45625001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786911226336,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808995,"imu":{"quaternion":[0.9931994676589966,-0.00019128041458316147,0.019117116928100586,0.11484505236148834],"gyroscope":[0.0053263213485479355,0.017044229432940483,0.0031957929022610188],"accelerometer":[-0.5315127968788147,0.04399345442652702,9.76205825805664],"rpy":[0.004013966303318739,0.0380273200571537,0.2303166389465332],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34465140104293823,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01486256904900074,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318381428718567,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112536668777466,"velocity_rad_s":0.009478638879954815,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01087432261556387,"velocity_rad_s":-0.007358446251600981,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35491201281547546,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01429158728569746,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999228358268738,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853339910507202,"velocity_rad_s":0.008576340973377228,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030367651488631964,"velocity_rad_s":-0.0037714974023401737,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01352581474930048,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004762330558151007,"velocity_rad_s":0.0357123501598835,"acceleration_raw":0.0,"estimated_torque_nm":-1.3046799898147583,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01956704631447792,"velocity_rad_s":0.026145538315176964,"acceleration_raw":0.0,"estimated_torque_nm":-4.081347465515137,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28364264965057373,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773135781288147,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010845723561942577,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.011576761491596699,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-9.25,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10253702849149704,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06991597265005112,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.32866737246513367,"velocity_rad_s":-0.5138835906982422,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12065718322992325,"velocity_rad_s":0.3528155982494354,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23244602978229523,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06367219239473343,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.4937500059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786912948800,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808996,"imu":{"quaternion":[0.9931990504264832,-0.00018792692571878433,0.01912214793264866,0.11484751105308533],"gyroscope":[0.008522114716470242,0.013848436065018177,0.004261057358235121],"accelerometer":[-0.6751648783683777,0.13377602398395538,9.918279647827148],"rpy":[0.004021883942186832,0.0380365364253521,0.23032177984714508],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34465140104293823,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014879613183438778,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318296194076538,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112536370754242,"velocity_rad_s":0.00580343184992671,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010888833552598953,"velocity_rad_s":0.0009673802996985614,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35491201281547546,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014317153953015804,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999484062194824,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853298783302307,"velocity_rad_s":0.013311836868524551,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003043959615752101,"velocity_rad_s":0.008221433497965336,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013552598655223846,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0048151216469705105,"velocity_rad_s":0.038614023476839066,"acceleration_raw":0.0,"estimated_torque_nm":-1.2547786235809326,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019600272178649902,"velocity_rad_s":0.023080307990312576,"acceleration_raw":0.0,"estimated_torque_nm":-4.002830982208252,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2834988236427307,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21536850929260254,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9772776365280151,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010833739303052425,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.01197224110364914,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-9.25,"temperature_raw":[43,43],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10240520536899567,"velocity_rad_s":0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06992795318365097,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.32829585671424866,"velocity_rad_s":-0.5108156204223633,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12090884894132614,"velocity_rad_s":0.3466796576976776,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23254190385341644,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-4.474999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06374409049749374,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.48124998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786913964384,"stream":"controller.command","data":{"kind":"finger_positions","positions":[0,0,0,0,0,0],"reason":"pressure_limit_reached"}} +{"timestamp_monotonic_ns":786915417568,"stream":"controller.command","data":{"kind":"minor_arm_movement_plan","execution_mode":"log_only","state_gate":"hold","movement":"single_out_and_back","reference":"measured_position_at_hold_entry","joint_name":"right_elbow","joint_index":25,"amplitude_rad":0.02,"duration_seconds":1.0,"sample_rate_hz":20.0,"samples":[{"time_seconds":0.0,"relative_position_rad":0.0},{"time_seconds":0.05,"relative_position_rad":0.000489435},{"time_seconds":0.1,"relative_position_rad":0.00190983},{"time_seconds":0.15,"relative_position_rad":0.004122147},{"time_seconds":0.2,"relative_position_rad":0.00690983},{"time_seconds":0.25,"relative_position_rad":0.01},{"time_seconds":0.3,"relative_position_rad":0.01309017},{"time_seconds":0.35,"relative_position_rad":0.015877853},{"time_seconds":0.4,"relative_position_rad":0.01809017},{"time_seconds":0.45,"relative_position_rad":0.019510565},{"time_seconds":0.5,"relative_position_rad":0.02},{"time_seconds":0.55,"relative_position_rad":0.019510565},{"time_seconds":0.6,"relative_position_rad":0.01809017},{"time_seconds":0.65,"relative_position_rad":0.015877853},{"time_seconds":0.7,"relative_position_rad":0.01309017},{"time_seconds":0.75,"relative_position_rad":0.01},{"time_seconds":0.8,"relative_position_rad":0.00690983},{"time_seconds":0.85,"relative_position_rad":0.004122147},{"time_seconds":0.9,"relative_position_rad":0.00190983},{"time_seconds":0.95,"relative_position_rad":0.000489435},{"time_seconds":1.0,"relative_position_rad":0.0}]}} +{"timestamp_monotonic_ns":786915628256,"stream":"controller.command","data":{"kind":"minor_arm_movement_plan","execution_mode":"arm_sdk","state_gate":"hold","movement":"single_out_and_back","reference":"measured_position_at_hold_entry","joint_name":"right_elbow","joint_index":25,"amplitude_rad":0.02,"duration_seconds":1.0,"sample_rate_hz":20.0,"samples":[{"time_seconds":0.0,"relative_position_rad":0.0},{"time_seconds":0.05,"relative_position_rad":0.000489435},{"time_seconds":0.1,"relative_position_rad":0.00190983},{"time_seconds":0.15,"relative_position_rad":0.004122147},{"time_seconds":0.2,"relative_position_rad":0.00690983},{"time_seconds":0.25,"relative_position_rad":0.01},{"time_seconds":0.3,"relative_position_rad":0.01309017},{"time_seconds":0.35,"relative_position_rad":0.015877853},{"time_seconds":0.4,"relative_position_rad":0.01809017},{"time_seconds":0.45,"relative_position_rad":0.019510565},{"time_seconds":0.5,"relative_position_rad":0.02},{"time_seconds":0.55,"relative_position_rad":0.019510565},{"time_seconds":0.6,"relative_position_rad":0.01809017},{"time_seconds":0.65,"relative_position_rad":0.015877853},{"time_seconds":0.7,"relative_position_rad":0.01309017},{"time_seconds":0.75,"relative_position_rad":0.01},{"time_seconds":0.8,"relative_position_rad":0.00690983},{"time_seconds":0.85,"relative_position_rad":0.004122147},{"time_seconds":0.9,"relative_position_rad":0.00190983},{"time_seconds":0.95,"relative_position_rad":0.000489435},{"time_seconds":1.0,"relative_position_rad":0.0}],"start_delay_seconds":0.5}} +{"timestamp_monotonic_ns":786915770496,"stream":"controller.event","data":{"event":"minor_arm_movement_waiting_for_arm_raise","action":"shake hand"}} +{"timestamp_monotonic_ns":786915874144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808997,"imu":{"quaternion":[0.993198573589325,-0.00018266914412379265,0.019130149856209755,0.1148504689335823],"gyroscope":[0.012783171609044075,0.019174758344888687,0.0053263213485479355],"accelerometer":[-0.5925649404525757,0.10145429521799088,9.66958236694336],"rpy":[0.00403429102152586,0.038051214069128036,0.2303280383348465],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34463435411453247,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014871091581881046,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318296194076538,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112454116344452,"velocity_rad_s":0.007905671373009682,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010888871736824512,"velocity_rad_s":-0.0027297958731651306,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35491201281547546,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014308631420135498,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999739766120911,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853381335735321,"velocity_rad_s":0.0064031751826405525,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003029570449143648,"velocity_rad_s":0.0017990486230701208,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013579382561147213,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004867912270128727,"velocity_rad_s":0.038605429232120514,"acceleration_raw":0.0,"estimated_torque_nm":-1.3046799898147583,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019633498042821884,"velocity_rad_s":0.030412159860134125,"acceleration_raw":0.0,"estimated_torque_nm":-4.081347465515137,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28343892097473145,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21539248526096344,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9772176742553711,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010821755044162273,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0121879568323493,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-9.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1023213118314743,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06993994116783142,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3275648355484009,"velocity_rad_s":-0.5246214270591736,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12114853411912918,"velocity_rad_s":0.3436117172241211,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2326497584581375,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-4.474999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0638040155172348,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.48124998807907104,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786917954624,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808998,"imu":{"quaternion":[0.9931982755661011,-0.0001772092655301094,0.019137298688292503,0.11485183238983154],"gyroscope":[0.012783171609044075,0.017044229432940483,0.0021305286791175604],"accelerometer":[-0.6976104974746704,0.16879121959209442,9.399336814880371],"rpy":[0.004046842455863953,0.03806415945291519,0.23033107817173004],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34464287757873535,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014854047447443008,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318381428718567,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112330734729767,"velocity_rad_s":0.009504623711109161,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010881708934903145,"velocity_rad_s":0.005631936714053154,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35492053627967834,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01429158728569746,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999654531478882,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853298783302307,"velocity_rad_s":0.009046930819749832,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003043959615752101,"velocity_rad_s":0.006405044347047806,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013552598655223846,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004898089449852705,"velocity_rad_s":0.044410210102796555,"acceleration_raw":0.0,"estimated_torque_nm":-1.354581356048584,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019642936065793037,"velocity_rad_s":0.023059723898768425,"acceleration_raw":0.0,"estimated_torque_nm":-4.1598639488220215,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2833789885044098,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2153804898262024,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9771937131881714,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01079778652638197,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.012379704974591732,"velocity_rad_s":-0.27458256483078003,"acceleration_raw":0.0,"estimated_torque_nm":-9.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10224940627813339,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06995192170143127,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.32719331979751587,"velocity_rad_s":-0.5276893973350525,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1215679794549942,"velocity_rad_s":0.3129321038722992,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23276960849761963,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06385195255279541,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.4937500059604645,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786922681568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":808999,"imu":{"quaternion":[0.9931980967521667,-0.00017272913828492165,0.019143469631671906,0.11485268175601959],"gyroscope":[0.010652642697095871,0.014913700520992279,0.0010652643395587802],"accelerometer":[-0.7469909191131592,0.03501519933342934,9.686640739440918],"rpy":[0.004057200625538826,0.038075391203165054,0.23033303022384644],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34463435411453247,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014854047447443008,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318466663360596,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112330734729767,"velocity_rad_s":0.008420094847679138,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010867215692996979,"velocity_rad_s":-0.009221396408975124,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35491201281547546,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014283065684139729,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999995470046997,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28533804416656494,"velocity_rad_s":0.0032423005905002356,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003015095368027687,"velocity_rad_s":-0.005579215474426746,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013592774048447609,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004928233567625284,"velocity_rad_s":0.05310233682394028,"acceleration_raw":0.0,"estimated_torque_nm":-1.354581356048584,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019681015983223915,"velocity_rad_s":0.024861810728907585,"acceleration_raw":0.0,"estimated_torque_nm":-4.1598639488220215,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28334304690361023,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2153804898262024,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9771697521209717,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01077381893992424,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.38749998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.012595420703291893,"velocity_rad_s":-0.2929903566837311,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10215353965759277,"velocity_rad_s":0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06997589021921158,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3267858624458313,"velocity_rad_s":-0.5276893973350525,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12180766463279724,"velocity_rad_s":0.31139811873435974,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23300929367542267,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.506249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06399576365947723,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.550000011920929,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786924849344,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809000,"imu":{"quaternion":[0.9931979775428772,-0.00017036836652550846,0.019144749268889427,0.11485359817743301],"gyroscope":[0.0053263213485479355,0.0053263213485479355,0.0010652643395587802],"accelerometer":[-0.7469909191131592,0.03501519933342934,9.686640739440918],"rpy":[0.00406222278252244,0.03807738795876503,0.23033499717712402],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34460878372192383,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014854047447443008,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318296194076538,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112412989139557,"velocity_rad_s":0.003686343552544713,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010881653055548668,"velocity_rad_s":-0.002758519956842065,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35491201281547546,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014283065684139729,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599982500076294,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853339910507202,"velocity_rad_s":0.0021615338046103716,"acceleration_raw":0.0,"estimated_torque_nm":3.7740695476531982,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030367651488631964,"velocity_rad_s":-0.0037194769829511642,"acceleration_raw":0.0,"estimated_torque_nm":0.9560043811798096,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013592774048447609,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005011190194636583,"velocity_rad_s":0.04054178670048714,"acceleration_raw":0.0,"estimated_torque_nm":-1.3046799898147583,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019733227789402008,"velocity_rad_s":0.026739371940493584,"acceleration_raw":0.0,"estimated_torque_nm":-4.081347465515137,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28323519229888916,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21536850929260254,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9771338105201721,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01077381893992424,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.012954947538673878,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10200972855091095,"velocity_rad_s":0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06998787820339203,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.326438307762146,"velocity_rad_s":-0.5292233824729919,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12204734981060028,"velocity_rad_s":0.31139811873435974,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23310516774654388,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-4.493750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0640556812286377,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.4937500059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786926844896,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809001,"imu":{"quaternion":[0.9931977391242981,-0.00016850432439241558,0.019144877791404724,0.11485558748245239],"gyroscope":[0.004261057358235121,0.0031957929022610188,0.0031957929022610188],"accelerometer":[-0.573710560798645,-0.08170213550329208,9.699210166931152],"rpy":[0.0040660337544977665,0.038077205419540405,0.23033908009529114],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3446173071861267,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014854047447443008,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008972570300102234,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318296194076538,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112412989139557,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010881653055548668,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549290597438812,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01426602154970169,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999995470046997,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853339910507202,"velocity_rad_s":0.001632782630622387,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030367651488631964,"velocity_rad_s":-0.0046406760811805725,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013606165535748005,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005064003635197878,"velocity_rad_s":0.0559968501329422,"acceleration_raw":0.0,"estimated_torque_nm":-1.354581356048584,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019747361540794373,"velocity_rad_s":0.02790645696222782,"acceleration_raw":0.0,"estimated_torque_nm":-4.1598639488220215,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2831992208957672,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21539248526096344,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977061927318573,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010761834681034088,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.013146694749593735,"velocity_rad_s":-0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10196179151535034,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07001184672117233,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3256593346595764,"velocity_rad_s":-0.5460971593856812,"acceleration_raw":0.0,"estimated_torque_nm":-8.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12228703498840332,"velocity_rad_s":0.3129321038722992,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2332250028848648,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-4.518750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06412758678197861,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.5062500238418579,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786928769088,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809002,"imu":{"quaternion":[0.9931977391242981,-0.00016850432439241558,0.019144877791404724,0.11485558748245239],"gyroscope":[0.004261057358235121,0.0031957929022610188,0.0031957929022610188],"accelerometer":[-0.573710560798645,-0.08170213550329208,9.699210166931152],"rpy":[0.0040660337544977665,0.038077205419540405,0.23033908009529114],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3446173071861267,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01483700331300497,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318210959434509,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112371563911438,"velocity_rad_s":0.001587816164828837,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010888928547501564,"velocity_rad_s":0.0027944252360612154,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549290597438812,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014274543151259422,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000251173973083,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28532564640045166,"velocity_rad_s":0.0074839419685304165,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003036697395145893,"velocity_rad_s":-6.069007213227451e-05,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013592774048447609,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005116794258356094,"velocity_rad_s":0.05599255487322807,"acceleration_raw":0.0,"estimated_torque_nm":-1.354581356048584,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019780587404966354,"velocity_rad_s":0.031572382897138596,"acceleration_raw":0.0,"estimated_torque_nm":-4.1598639488220215,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2831273078918457,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21539248526096344,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9769899845123291,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010737866163253784,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.013338442891836166,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10186591744422913,"velocity_rad_s":0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06998787820339203,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.32525187730789185,"velocity_rad_s":-0.5553010702133179,"acceleration_raw":0.0,"estimated_torque_nm":-8.1875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12280235439538956,"velocity_rad_s":0.32520392537117004,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23332087695598602,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.474999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06419949233531952,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786930902848,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809003,"imu":{"quaternion":[0.9931975603103638,-0.0001654784573474899,0.019145164638757706,0.11485689133405685],"gyroscope":[0.004261057358235121,0.0063915858045220375,-0.0],"accelerometer":[-0.43005847930908203,-0.21278467774391174,9.763854026794434],"rpy":[0.0040721651166677475,0.03807707503437996,0.2303418219089508],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3446258306503296,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014828480780124664,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008972570300102234,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318210959434509,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112248182296753,"velocity_rad_s":0.008442368358373642,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010881765745580196,"velocity_rad_s":0.0019132178276777267,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35492053627967834,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014283065684139729,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000251173973083,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28532978892326355,"velocity_rad_s":0.003747787093743682,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003029502695426345,"velocity_rad_s":-0.000955879339016974,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013606165535748005,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005146960727870464,"velocity_rad_s":0.05116741359233856,"acceleration_raw":0.0,"estimated_torque_nm":-1.354581356048584,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019799573346972466,"velocity_rad_s":0.0273126233369112,"acceleration_raw":0.0,"estimated_torque_nm":-4.1598639488220215,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.283103346824646,"velocity_rad_s":-0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21539248526096344,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9769780039787292,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01071389764547348,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.38749998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.013554158620536327,"velocity_rad_s":-0.26691266894340515,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10177004337310791,"velocity_rad_s":0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07001184672117233,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3248324394226074,"velocity_rad_s":-0.552233099937439,"acceleration_raw":0.0,"estimated_torque_nm":-8.125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1230899766087532,"velocity_rad_s":0.34207773208618164,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23358453810214996,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06431933492422104,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.48124998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786933760800,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809003,"imu":{"quaternion":[0.9931974411010742,-0.00016390508972108364,0.019148562103509903,0.11485728621482849],"gyroscope":[0.0053263213485479355,0.010652642697095871,-0.0],"accelerometer":[-0.4040215313434601,0.006284779403358698,9.841066360473633],"rpy":[0.004076090641319752,0.03808346390724182,0.23034271597862244],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34460878372192383,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014828480780124664,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318210959434509,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112248182296753,"velocity_rad_s":0.005266735330224037,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010881765745580196,"velocity_rad_s":-0.0036756328772753477,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.354946106672287,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014274543151259422,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000421643257141,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853339910507202,"velocity_rad_s":0.004253273364156485,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030367651488631964,"velocity_rad_s":0.0036674567963927984,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013619557954370975,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005169572774320841,"velocity_rad_s":0.04537695646286011,"acceleration_raw":0.0,"estimated_torque_nm":-1.4039254188537598,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019823359325528145,"velocity_rad_s":0.022445306181907654,"acceleration_raw":0.0,"estimated_torque_nm":-4.081463813781738,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2829475700855255,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21539248526096344,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9769300818443298,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010701913386583328,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.36250001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.013937653973698616,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10156630724668503,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07001184672117233,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3244369328022003,"velocity_rad_s":-0.552233099937439,"acceleration_raw":0.0,"estimated_torque_nm":-8.125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1233416497707367,"velocity_rad_s":0.33594179153442383,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2337283492088318,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06439124047756195,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.5062500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786935407520,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809004,"imu":{"quaternion":[0.9931971430778503,-0.00016243175195995718,0.01915338821709156,0.11485926806926727],"gyroscope":[0.0053263213485479355,0.013848436065018177,0.0031957929022610188],"accelerometer":[-0.4040215313434601,0.006284779403358698,9.841066360473633],"rpy":[0.00408020569011569,0.038092706352472305,0.23034681379795074],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34459173679351807,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014828480780124664,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318210959434509,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112330734729767,"velocity_rad_s":-0.0005329842679202557,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010881708934903145,"velocity_rad_s":-0.002787244040518999,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549290597438812,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014274543151259422,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.600050687789917,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28532978892326355,"velocity_rad_s":0.005299143493175507,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003029502695426345,"velocity_rad_s":0.0073609245009720325,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013592774048447609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005252529866993427,"velocity_rad_s":0.05502866953611374,"acceleration_raw":0.0,"estimated_torque_nm":-1.5031708478927612,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019875571131706238,"velocity_rad_s":0.029742849990725517,"acceleration_raw":0.0,"estimated_torque_nm":-4.08158016204834,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2829235792160034,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21536850929260254,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9769061207771301,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010701913386583328,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.014105432666838169,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-9.0625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10148242115974426,"velocity_rad_s":0.13038837909698486,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07001184672117233,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3240174949169159,"velocity_rad_s":-0.5399612784385681,"acceleration_raw":0.0,"estimated_torque_nm":-8.125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1236412525177002,"velocity_rad_s":0.3528155982494354,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2338481843471527,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06446314603090286,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786938001952,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809005,"imu":{"quaternion":[0.9931971430778503,-0.00016243175195995718,0.01915338821709156,0.11485926806926727],"gyroscope":[0.0053263213485479355,0.013848436065018177,0.0031957929022610188],"accelerometer":[-0.4040215313434601,0.006284779403358698,9.841066360473633],"rpy":[0.00408020569011569,0.038092706352472305,0.23034681379795074],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3446173071861267,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014811436645686626,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631812572479248,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112206757068634,"velocity_rad_s":0.004737463314086199,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010889040306210518,"velocity_rad_s":-0.0046071079559624195,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35492053627967834,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014274543151259422,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000677347183228,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853255569934845,"velocity_rad_s":0.003747787093743682,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030222402419894934,"velocity_rad_s":-0.000955879339016974,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013579382561147213,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00528269587084651,"velocity_rad_s":0.05116311460733414,"acceleration_raw":0.0,"estimated_torque_nm":-1.4538267850875854,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01989455707371235,"velocity_rad_s":0.030978549271821976,"acceleration_raw":0.0,"estimated_torque_nm":-4.159980297088623,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.282875657081604,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2153804898262024,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9768102169036865,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010665960609912872,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0142971808090806,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":-9.0,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10138654708862305,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07004779577255249,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3232385218143463,"velocity_rad_s":-0.5568350553512573,"acceleration_raw":0.0,"estimated_torque_nm":-8.0625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12421649694442749,"velocity_rad_s":0.3773593008518219,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23399199545383453,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06454703956842422,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786938639744,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809006,"imu":{"quaternion":[0.9931963682174683,-0.00016127643175423145,0.019165772944688797,0.11486382782459259],"gyroscope":[0.0031957929022610188,0.017044229432940483,0.0053263213485479355],"accelerometer":[-0.48482584953308105,0.03950432687997818,9.762955665588379],"rpy":[0.004085528198629618,0.03811703249812126,0.23035620152950287],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34459173679351807,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014794392511248589,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112248182296753,"velocity_rad_s":0.0010585441486909986,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010881765745580196,"velocity_rad_s":0.0018629501573741436,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549290597438812,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01429158728569746,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000677347183228,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853255569934845,"velocity_rad_s":0.00377105176448822,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030222402419894934,"velocity_rad_s":-0.004658016376197338,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013619557954370975,"velocity_rad_s":-0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005305320490151644,"velocity_rad_s":0.03764011710882187,"acceleration_raw":0.0,"estimated_torque_nm":-1.5031708478927612,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01990879699587822,"velocity_rad_s":0.02980460412800312,"acceleration_raw":0.0,"estimated_torque_nm":-4.08158016204834,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2828516960144043,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21539248526096344,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9767982363700867,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010630007833242416,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.36250001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.014464959502220154,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-9.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10127868503332138,"velocity_rad_s":0.1457281857728958,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07004779577255249,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.32280710339546204,"velocity_rad_s":-0.5706408619880676,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12450411915779114,"velocity_rad_s":0.3773593008518219,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23430359363555908,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0646788626909256,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.5062500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786940576480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809007,"imu":{"quaternion":[0.9931962490081787,-0.00015845871530473232,0.019172707572579384,0.11486365646123886],"gyroscope":[0.008522114716470242,0.01810949295759201,-0.0010652643395587802],"accelerometer":[-0.4668693244457245,-0.041299980133771896,9.691129684448242],"rpy":[0.004092718940228224,0.03813016414642334,0.23035605251789093],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445832133293152,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014794392511248589,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317955255508423,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31122487783432007,"velocity_rad_s":0.0010399831226095557,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01085277833044529,"velocity_rad_s":-0.0074158948846161366,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.354946106672287,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01429158728569746,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000847816467285,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2853255569934845,"velocity_rad_s":0.0026902849785983562,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030222402419894934,"velocity_rad_s":-0.002798277884721756,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013579382561147213,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005335486959666014,"velocity_rad_s":0.03861115872859955,"acceleration_raw":0.0,"estimated_torque_nm":-1.4039254188537598,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01992778293788433,"velocity_rad_s":0.025524256750941277,"acceleration_raw":0.0,"estimated_torque_nm":-4.081463813781738,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28276780247688293,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2153804898262024,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9767383337020874,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010606039315462112,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.36250001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.014944328926503658,"velocity_rad_s":-0.28685441613197327,"acceleration_raw":0.0,"estimated_torque_nm":-9.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10106296837329865,"velocity_rad_s":0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07003581523895264,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3223397135734558,"velocity_rad_s":-0.5829127430915833,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12485165894031525,"velocity_rad_s":0.40650492906570435,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23445938527584076,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06475076824426651,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.518750011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786942159040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809008,"imu":{"quaternion":[0.9931962490081787,-0.00015845871530473232,0.019172707572579384,0.11486365646123886],"gyroscope":[0.008522114716470242,0.01810949295759201,-0.0010652643395587802],"accelerometer":[-0.4668693244457245,-0.041299980133771896,9.691129684448242],"rpy":[0.004092718940228224,0.03813016414642334,0.23035605251789093],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445832133293152,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014794392511248589,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008959177881479263,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112166225910187,"velocity_rad_s":0.0015655428869649768,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010867327451705933,"velocity_rad_s":-0.00834018923342228,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3549375832080841,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014300109818577766,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000847816467285,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28532978892326355,"velocity_rad_s":-0.0026670200750231743,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003029502695426345,"velocity_rad_s":-0.0009038591524586082,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013592774048447609,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005395818967372179,"velocity_rad_s":0.042472418397665024,"acceleration_raw":0.0,"estimated_torque_nm":-1.4039254188537598,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019965754821896553,"velocity_rad_s":0.02795448713004589,"acceleration_raw":0.0,"estimated_torque_nm":-4.081463813781738,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2827078700065613,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21539248526096344,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9767023921012878,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010582070797681808,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.38749998807907104,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.01516004465520382,"velocity_rad_s":-0.2914563715457916,"acceleration_raw":0.0,"estimated_torque_nm":-9.25,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10096709430217743,"velocity_rad_s":0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0700717642903328,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3218962848186493,"velocity_rad_s":-0.5844467282295227,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12515126168727875,"velocity_rad_s":0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23457922041416168,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06482267379760742,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786944656384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809009,"imu":{"quaternion":[0.9931961894035339,-0.00015435439127031714,0.019177604466676712,0.11486398428678513],"gyroscope":[0.010652642697095871,0.013848436065018177,-0.0],"accelerometer":[-0.4668693244457245,-0.041299980133771896,9.691129684448242],"rpy":[0.004102017264813185,0.03813895583152771,0.23035694658756256],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34459173679351807,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014768825843930244,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31122487783432007,"velocity_rad_s":0.0005069986800663173,"acceleration_raw":0.0,"estimated_torque_nm":7.366772174835205,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01085277833044529,"velocity_rad_s":-0.010203138925135136,"acceleration_raw":0.0,"estimated_torque_nm":-0.6863496899604797,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35496315360069275,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014274543151259422,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6001018285751343,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28533390164375305,"velocity_rad_s":-0.00479365698993206,"acceleration_raw":0.0,"estimated_torque_nm":3.863328456878662,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030223079957067966,"velocity_rad_s":-0.0027375875506550074,"acceleration_raw":0.0,"estimated_torque_nm":0.9047715663909912,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013565990142524242,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005441079381853342,"velocity_rad_s":0.042470987886190414,"acceleration_raw":0.0,"estimated_torque_nm":-1.4538267850875854,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.019984688609838486,"velocity_rad_s":0.029176464304327965,"acceleration_raw":0.0,"estimated_torque_nm":-4.159980297088623,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826839089393616,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21539248526096344,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9766184687614441,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010582070797681808,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.015303855761885643,"velocity_rad_s":-0.27458256483078003,"acceleration_raw":0.0,"estimated_torque_nm":-9.25,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10085923969745636,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0700957328081131,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.32112929224967957,"velocity_rad_s":-0.5583690404891968,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1257384866476059,"velocity_rad_s":0.40957289934158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23468708992004395,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-4.40625,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06490656733512878,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.550000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786946302048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809031,"imu":{"quaternion":[0.9931977391242981,-2.497294917702675e-05,0.019263138994574547,0.11483553797006607],"gyroscope":[0.015978964045643806,0.020240021869540215,0.0010652643395587802],"accelerometer":[-0.24420857429504395,-0.049380410462617874,9.63995361328125],"rpy":[0.0043778009712696075,0.03827929496765137,0.23030558228492737],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014709170907735825,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317784786224365,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-6.591796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110232651233673,"velocity_rad_s":0.0026277992874383926,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010716426186263561,"velocity_rad_s":-0.004621469881385565,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3550909757614136,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01426602154970169,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6006813049316406,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28527912497520447,"velocity_rad_s":0.002173166023567319,"acceleration_raw":0.0,"estimated_torque_nm":4.222043514251709,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00294233625754714,"velocity_rad_s":-0.005570545792579651,"acceleration_raw":0.0,"estimated_torque_nm":0.9070257544517517,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013579382561147213,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006338487379252911,"velocity_rad_s":0.04247671738266945,"acceleration_raw":0.0,"estimated_torque_nm":-1.6029736995697021,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020578166469931602,"velocity_rad_s":0.024288561195135117,"acceleration_raw":0.0,"estimated_torque_nm":-4.238613128662109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823483347892761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.975719690322876,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010210559703409672,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4000000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.021044299006462097,"velocity_rad_s":-0.29759228229522705,"acceleration_raw":0.0,"estimated_torque_nm":-9.0,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09749167412519455,"velocity_rad_s":0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07032343000173569,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.31147000193595886,"velocity_rad_s":-0.46786415576934814,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13241370022296906,"velocity_rad_s":0.31139811873435974,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2392650544643402,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-4.212500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06684800982475281,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.5874999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786948243360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809032,"imu":{"quaternion":[0.9931977391242981,-2.497294917702675e-05,0.019263138994574547,0.11483553797006607],"gyroscope":[0.015978964045643806,0.020240021869540215,0.0010652643395587802],"accelerometer":[-0.24420857429504395,-0.049380410462617874,9.63995361328125],"rpy":[0.0043778009712696075,0.03827929496765137,0.23030558228492737],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01471769344061613,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317784786224365,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110191822052002,"velocity_rad_s":0.0015544065972790122,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010694695636630058,"velocity_rad_s":-0.013907496817409992,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3551165461540222,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014257499016821384,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6007324457168579,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852790355682373,"velocity_rad_s":0.0016909445403143764,"acceleration_raw":0.0,"estimated_torque_nm":4.132784843444824,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002927861176431179,"velocity_rad_s":-0.013896019198000431,"acceleration_raw":0.0,"estimated_torque_nm":0.9582586288452148,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013592774048447609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006346017587929964,"velocity_rad_s":0.0386197529733181,"acceleration_raw":0.0,"estimated_torque_nm":-1.6029736995697021,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0205924604088068,"velocity_rad_s":0.018192406743764877,"acceleration_raw":0.0,"estimated_torque_nm":-4.238613128662109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28233635425567627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9756597280502319,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01019857544451952,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.021271999925374985,"velocity_rad_s":-0.2899223864078522,"acceleration_raw":0.0,"estimated_torque_nm":-9.0,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09738381206989288,"velocity_rad_s":0.15493206679821014,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07031144946813583,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.31075096130371094,"velocity_rad_s":-0.4632622301578522,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13259346783161163,"velocity_rad_s":0.2929903566837311,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23948077857494354,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-4.212500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06693189591169357,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.574999988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786950724736,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809033,"imu":{"quaternion":[0.9931979775428772,-1.971167694136966e-05,0.019272204488515854,0.11483266204595566],"gyroscope":[0.013848436065018177,0.02237055078148842,-0.0063915858045220375],"accelerometer":[-0.34656068682670593,-0.17328034341335297,9.957783699035645],"rpy":[0.004390234127640724,0.03829611837863922,0.2303001433610916],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014726215042173862,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317784786224365,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110067844390869,"velocity_rad_s":0.00526302307844162,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010702026076614857,"velocity_rad_s":-0.005531401839107275,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355133593082428,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":5.009765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014274543151259422,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6007494926452637,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852664589881897,"velocity_rad_s":0.003852478228509426,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029205309692770243,"velocity_rad_s":-0.01761549524962902,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013592774048447609,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006376194767653942,"velocity_rad_s":0.05021069198846817,"acceleration_raw":0.0,"estimated_torque_nm":-1.652317762374878,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020601898431777954,"velocity_rad_s":0.0193732138723135,"acceleration_raw":0.0,"estimated_torque_nm":-4.160212993621826,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28236034512519836,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9756717085838318,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01019857544451952,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.38749998807907104,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.02147573232650757,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-9.0,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09725198894739151,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07031144946813583,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3104393780231476,"velocity_rad_s":-0.4663301706314087,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1329529881477356,"velocity_rad_s":0.27458256483078003,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23982831835746765,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-4.175000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06702776998281479,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.574999988079071,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786952394080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809034,"imu":{"quaternion":[0.993198573589325,-1.43351498991251e-05,0.019288865849375725,0.11482438445091248],"gyroscope":[0.0074568502604961395,0.021305285394191742,-0.009587379172444344],"accelerometer":[-0.4156932830810547,-0.05386953800916672,9.833884239196777],"rpy":[0.004404437728226185,0.03832802549004555,0.23028387129306793],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01471769344061613,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317870020866394,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110026717185974,"velocity_rad_s":0.0052704475820064545,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010709301568567753,"velocity_rad_s":-0.001819863449782133,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35514211654663086,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01426602154970169,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6007921099662781,"velocity_rad_s":0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524965047836304,"velocity_rad_s":0.012969202362000942,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029059385415166616,"velocity_rad_s":-0.022316861897706985,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013539206236600876,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006398807279765606,"velocity_rad_s":0.05406908318400383,"acceleration_raw":0.0,"estimated_torque_nm":-1.652317762374878,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020625684410333633,"velocity_rad_s":0.024247391149401665,"acceleration_raw":0.0,"estimated_torque_nm":-4.160212993621826,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823483347892761,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9756237864494324,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01019857544451952,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.021679462864995003,"velocity_rad_s":-0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-9.0,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09709618985652924,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07031144946813583,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.310115784406662,"velocity_rad_s":-0.45099037885665894,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13314473628997803,"velocity_rad_s":0.27458256483078003,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.23999609053134918,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-4.15625,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.067123644053936,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.612500011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786954705568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809035,"imu":{"quaternion":[0.993198573589325,-1.43351498991251e-05,0.019288865849375725,0.11482438445091248],"gyroscope":[0.0074568502604961395,0.021305285394191742,-0.009587379172444344],"accelerometer":[-0.4156932830810547,-0.05386953800916672,9.833884239196777],"rpy":[0.004404437728226185,0.03832802549004555,0.23028387129306793],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01471769344061613,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317784786224365,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3109903037548065,"velocity_rad_s":0.00789453461766243,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010702138766646385,"velocity_rad_s":-0.008297102525830269,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3551762104034424,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6008262038230896,"velocity_rad_s":0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852368950843811,"velocity_rad_s":0.015154000371694565,"acceleration_raw":0.0,"estimated_torque_nm":4.6708574295043945,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028696763329207897,"velocity_rad_s":-0.029738476499915123,"acceleration_raw":0.0,"estimated_torque_nm":0.961639940738678,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013565990142524242,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006436515133827925,"velocity_rad_s":0.02701735869050026,"acceleration_raw":0.0,"estimated_torque_nm":-1.6029736995697021,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020649418234825134,"velocity_rad_s":0.026787402108311653,"acceleration_raw":0.0,"estimated_torque_nm":-4.238613128662109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823723256587982,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9756118059158325,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01019857544451952,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.022122880443930626,"velocity_rad_s":-0.2899223864078522,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0968565046787262,"velocity_rad_s":0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07033541798591614,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3097922205924988,"velocity_rad_s":-0.4494563937187195,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13331252336502075,"velocity_rad_s":0.2653786838054657,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.240139901638031,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-4.212500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06718356907367706,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786957264352,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809036,"imu":{"quaternion":[0.9931989312171936,-1.02827334558242e-05,0.01929662935435772,0.11482048034667969],"gyroscope":[0.011717907153069973,0.020240021869540215,-0.008522114716470242],"accelerometer":[-0.5557540655136108,-0.04399345442652702,9.603142738342285],"rpy":[0.004414128139615059,0.038342539221048355,0.23027627170085907],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01471769344061613,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317784786224365,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3109738826751709,"velocity_rad_s":0.012643134221434593,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010687757283449173,"velocity_rad_s":-0.007336903363466263,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35518473386764526,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.600885808467865,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522413969039917,"velocity_rad_s":0.019442172721028328,"acceleration_raw":0.0,"estimated_torque_nm":4.6708574295043945,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002833432285115123,"velocity_rad_s":-0.03162422776222229,"acceleration_raw":0.0,"estimated_torque_nm":0.961639940738678,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013565990142524242,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006459150929003954,"velocity_rad_s":0.027021653950214386,"acceleration_raw":0.0,"estimated_torque_nm":-1.6029736995697021,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020654110237956047,"velocity_rad_s":0.02312147617340088,"acceleration_raw":0.0,"estimated_torque_nm":-4.238613128662109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823723256587982,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755638837814331,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010186591185629368,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4000000059604645,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.022338595241308212,"velocity_rad_s":-0.2929903566837311,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09674865007400513,"velocity_rad_s":0.16260196268558502,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07033541798591614,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30907317996025085,"velocity_rad_s":-0.45712628960609436,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13346831500530243,"velocity_rad_s":0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24028371274471283,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-4.256249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06723150610923767,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786957900288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809037,"imu":{"quaternion":[0.9931991696357727,-3.3727847039699554e-06,0.019302748143672943,0.11481646448373795],"gyroscope":[0.017044229432940483,0.015978964045643806,-0.008522114716470242],"accelerometer":[-0.6401496529579163,-0.029628245159983635,9.690232276916504],"rpy":[0.00442911870777607,0.038353122770786285,0.23026849329471588],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01471769344061613,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.310969740152359,"velocity_rad_s":0.007898246869444847,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010695031844079494,"velocity_rad_s":-0.006441333796828985,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35519325733184814,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6009369492530823,"velocity_rad_s":0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851904630661011,"velocity_rad_s":0.023835033178329468,"acceleration_raw":0.0,"estimated_torque_nm":4.6708574295043945,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027897723484784365,"velocity_rad_s":-0.05016959086060524,"acceleration_raw":0.0,"estimated_torque_nm":0.961639940738678,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013565990142524242,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006474233698099852,"velocity_rad_s":0.036687690764665604,"acceleration_raw":0.0,"estimated_torque_nm":-1.6528750658035278,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020663604140281677,"velocity_rad_s":0.018199266865849495,"acceleration_raw":0.0,"estimated_torque_nm":-4.317129611968994,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823723256587982,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755519032478333,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4000000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0225662961602211,"velocity_rad_s":-0.2960582971572876,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.096580870449543,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07034739851951599,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3087376058101654,"velocity_rad_s":-0.4586602747440338,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13379189372062683,"velocity_rad_s":0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24045149981975555,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-4.231249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06729142367839813,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786960395264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809038,"imu":{"quaternion":[0.9931996464729309,1.6717473044991493e-05,0.019308526068925858,0.11481144279241562],"gyroscope":[0.02237055078148842,0.0053263213485479355,-0.0021305286791175604],"accelerometer":[-0.5395932197570801,0.06823474913835526,9.95329475402832],"rpy":[0.0044701904989778996,0.03836001083254814,0.23025920987129211],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014700649306178093,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317784786224365,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3109532296657562,"velocity_rad_s":0.011066454462707043,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010695144534111023,"velocity_rad_s":-0.004564021248370409,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35519325733184814,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6009625196456909,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851860821247101,"velocity_rad_s":0.024328889325261116,"acceleration_raw":0.0,"estimated_torque_nm":4.6708574295043945,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027535781264305115,"velocity_rad_s":-0.04369518905878067,"acceleration_raw":0.0,"estimated_torque_nm":0.961639940738678,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013552598655223846,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006496858317404985,"velocity_rad_s":0.02798553742468357,"acceleration_raw":0.0,"estimated_torque_nm":-1.6528750658035278,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020677844062447548,"velocity_rad_s":0.024951009079813957,"acceleration_raw":0.0,"estimated_torque_nm":-4.317129611968994,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823962867259979,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21536850929260254,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755399227142334,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.02274606004357338,"velocity_rad_s":-0.2853204309940338,"acceleration_raw":0.0,"estimated_torque_nm":-8.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09646102786064148,"velocity_rad_s":0.16260196268558502,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07035938650369644,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30837807059288025,"velocity_rad_s":-0.4724661111831665,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13393570482730865,"velocity_rad_s":0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24067918956279755,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0674232542514801,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.550000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786961994400,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809039,"imu":{"quaternion":[0.9931996464729309,1.6717473044991493e-05,0.019308526068925858,0.11481144279241562],"gyroscope":[0.02237055078148842,0.0053263213485479355,-0.0021305286791175604],"accelerometer":[-0.5395932197570801,0.06823474913835526,9.95329475402832],"rpy":[0.0044701904989778996,0.03836001083254814,0.23025920987129211],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014700649306178093,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31093674898147583,"velocity_rad_s":0.014208678156137466,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010695256292819977,"velocity_rad_s":-0.015677092596888542,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35523584485054016,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014214888215065002,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6010051369667053,"velocity_rad_s":0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851693630218506,"velocity_rad_s":0.019453804939985275,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027534423861652613,"velocity_rad_s":-0.03347529470920563,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013565990142524242,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006534566171467304,"velocity_rad_s":0.01832522451877594,"acceleration_raw":0.0,"estimated_torque_nm":-1.6528750658035278,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0207015760242939,"velocity_rad_s":0.024985315278172493,"acceleration_raw":0.0,"estimated_torque_nm":-4.317129611968994,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28238430619239807,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755399227142334,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005620601586997509,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.023129554465413094,"velocity_rad_s":-0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09619737416505814,"velocity_rad_s":0.18867965042591095,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07034739851951599,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30805450677871704,"velocity_rad_s":-0.4617282450199127,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13410347700119019,"velocity_rad_s":0.23623305559158325,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24079903960227966,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06748317182064056,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.574999988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786963903616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809040,"imu":{"quaternion":[0.9931995868682861,2.5036395527422428e-05,0.01930973120033741,0.11481164395809174],"gyroscope":[0.01810949295759201,0.0053263213485479355,-0.0],"accelerometer":[-0.6221931576728821,0.08439560979604721,9.723451614379883],"rpy":[0.004487012047320604,0.03836049139499664,0.2302599400281906],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014709170907735825,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317870020866394,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31092438101768494,"velocity_rad_s":0.014212389476597309,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01070258766412735,"velocity_rad_s":-0.013821324333548546,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35524436831474304,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6010477542877197,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516513109207153,"velocity_rad_s":0.01570601761341095,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027461801655590534,"velocity_rad_s":-0.03251941502094269,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013552598655223846,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006579837761819363,"velocity_rad_s":0.0260577704757452,"acceleration_raw":0.0,"estimated_torque_nm":-1.6029736995697021,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020710961893200874,"velocity_rad_s":0.0212919432669878,"acceleration_raw":0.0,"estimated_torque_nm":-4.238613128662109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28238430619239807,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755399227142334,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.023321302607655525,"velocity_rad_s":-0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":-9.0,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09606555104255676,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07034739851951599,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3077069818973541,"velocity_rad_s":-0.4663301706314087,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.134247288107872,"velocity_rad_s":0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24090689420700073,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-4.40625,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06753110885620117,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786965833280,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809041,"imu":{"quaternion":[0.9931994676589966,3.3672669815132394e-05,0.0193132683634758,0.11481235921382904],"gyroscope":[0.019174758344888687,0.009587379172444344,0.0010652643395587802],"accelerometer":[-0.6643909811973572,0.03232172131538391,9.630077362060547],"rpy":[0.004505021497607231,0.03836553171277046,0.23026175796985626],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01471769344061613,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3109285235404968,"velocity_rad_s":0.01051862258464098,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010695312172174454,"velocity_rad_s":-0.014774342067539692,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3552528917789459,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.601098895072937,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851693630218506,"velocity_rad_s":0.011266626417636871,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027534423861652613,"velocity_rad_s":-0.00656977528706193,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01352581474930048,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006594898644834757,"velocity_rad_s":0.03281319886445999,"acceleration_raw":0.0,"estimated_torque_nm":-1.656286358833313,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020739547908306122,"velocity_rad_s":0.026740996167063713,"acceleration_raw":0.0,"estimated_torque_nm":-4.31713342666626,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28238430619239807,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755279421806335,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.02352503500878811,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09593372046947479,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07033541798591614,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30697593092918396,"velocity_rad_s":-0.4663301706314087,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13460682332515717,"velocity_rad_s":0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24102674424648285,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06759103387594223,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786970580224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809042,"imu":{"quaternion":[0.993199348449707,4.120008088648319e-05,0.019321497529745102,0.11481205374002457],"gyroscope":[0.01810949295759201,0.019174758344888687,-0.0010652643395587802],"accelerometer":[-0.524330198764801,0.002693476853892207,9.756670951843262],"rpy":[0.004521866794675589,0.038380157202482224,0.23026154935359955],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014700649306178093,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317870020866394,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31091612577438354,"velocity_rad_s":0.007398672867566347,"acceleration_raw":0.0,"estimated_torque_nm":8.002659797668457,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010717137716710567,"velocity_rad_s":0.007473344448953867,"acceleration_raw":0.0,"estimated_torque_nm":-0.6359590888023376,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3552614152431488,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001982000656425953,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6011500358581543,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851693630218506,"velocity_rad_s":0.01018585916608572,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027534423861652613,"velocity_rad_s":-0.004710035864263773,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013499030843377113,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006625075824558735,"velocity_rad_s":0.037646882236003876,"acceleration_raw":0.0,"estimated_torque_nm":-1.656286358833313,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020748963579535484,"velocity_rad_s":0.023665107786655426,"acceleration_raw":0.0,"estimated_torque_nm":-4.31713342666626,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823962867259979,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755159616470337,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010186591185629368,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.023764718323946,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09580189734697342,"velocity_rad_s":0.17947575449943542,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07035938650369644,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30662837624549866,"velocity_rad_s":-0.4724661111831665,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1347985714673996,"velocity_rad_s":0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24130237102508545,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0676988884806633,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786971242528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809043,"imu":{"quaternion":[0.9931991696357727,4.954240284860134e-05,0.019331954419612885,0.1148117184638977],"gyroscope":[0.020240021869540215,0.023435814306139946,-0.0010652643395587802],"accelerometer":[-0.524330198764801,0.002693476853892207,9.756670951843262],"rpy":[0.004540843423455954,0.038399022072553635,0.23026134073734283],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014709170907735825,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318296194076538,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31090790033340454,"velocity_rad_s":0.010544607415795326,"acceleration_raw":0.0,"estimated_torque_nm":8.002659797668457,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010702699422836304,"velocity_rad_s":-0.0017839584033936262,"acceleration_raw":0.0,"estimated_torque_nm":-0.6359590888023376,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35528698563575745,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6011926531791687,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28517356514930725,"velocity_rad_s":0.0058860559947788715,"acceleration_raw":0.0,"estimated_torque_nm":4.492340087890625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027607048396021128,"velocity_rad_s":-0.0009732191101647913,"acceleration_raw":0.0,"estimated_torque_nm":1.0641056299209595,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013485639356076717,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":2.349076747894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006625053007155657,"velocity_rad_s":0.034749533981084824,"acceleration_raw":0.0,"estimated_torque_nm":-1.656286358833313,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0207680556923151,"velocity_rad_s":0.02306669019162655,"acceleration_raw":0.0,"estimated_torque_nm":-4.31713342666626,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823962867259979,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21536850929260254,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755159616470337,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.02407630905508995,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-9.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09572999179363251,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07035938650369644,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30625689029693604,"velocity_rad_s":-0.4617282450199127,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13497832417488098,"velocity_rad_s":0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24139824509620667,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06775880604982376,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.518750011920929,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786971872576,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809044,"imu":{"quaternion":[0.9931991100311279,5.650310777127743e-05,0.01934049278497696,0.11481089144945145],"gyroscope":[0.017044229432940483,0.020240021869540215,-0.0021305286791175604],"accelerometer":[-0.39055415987968445,0.022445641458034515,9.838373184204102],"rpy":[0.0045566135086119175,0.03841439262032509,0.23026005923748016],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014709170907735825,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631812572479248,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31090787053108215,"velocity_rad_s":0.008449792861938477,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010717211291193962,"velocity_rad_s":0.005624756217002869,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35528698563575745,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014163755811750889,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001982000656425953,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6012097001075745,"velocity_rad_s":0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28517770767211914,"velocity_rad_s":0.0037245224229991436,"acceleration_raw":0.0,"estimated_torque_nm":4.492340087890625,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027535101398825645,"velocity_rad_s":0.00274625769816339,"acceleration_raw":0.0,"estimated_torque_nm":1.0641056299209595,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013499030843377113,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":2.349076747894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006692936643958092,"velocity_rad_s":0.032820358872413635,"acceleration_raw":0.0,"estimated_torque_nm":-1.656286358833313,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020801175385713577,"velocity_rad_s":0.02063111960887909,"acceleration_raw":0.0,"estimated_torque_nm":-4.31713342666626,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28238430619239807,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755039215087891,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.02424408681690693,"velocity_rad_s":-0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09551427513360977,"velocity_rad_s":0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07035938650369644,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3059452772140503,"velocity_rad_s":-0.475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13521800935268402,"velocity_rad_s":0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24150609970092773,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06779476255178452,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.550000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786973774432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809045,"imu":{"quaternion":[0.9931989312171936,6.337359081953764e-05,0.019345108419656754,0.11481166630983353],"gyroscope":[0.015978964045643806,0.012783171609044075,0.0010652643395587802],"accelerometer":[-0.36990416049957275,-0.048482585698366165,9.733327865600586],"rpy":[0.004571362864226103,0.038421981036663055,0.2302619218826294],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014709170907735825,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008972570300102234,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31089553236961365,"velocity_rad_s":0.012139848433434963,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010710048489272594,"velocity_rad_s":0.004722005221992731,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3553125560283661,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014163755811750889,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001982000656425953,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6013119220733643,"velocity_rad_s":0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851693630218506,"velocity_rad_s":0.0026786525268107653,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027534423861652613,"velocity_rad_s":-0.0009472091915085912,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013499030843377113,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006715549621731043,"velocity_rad_s":0.041510965675115585,"acceleration_raw":0.0,"estimated_torque_nm":-1.7055692672729492,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020824942737817764,"velocity_rad_s":0.023648345842957497,"acceleration_raw":0.0,"estimated_torque_nm":-4.238733291625977,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823962867259979,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755039215087891,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.024411866441369057,"velocity_rad_s":-0.2346990704536438,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09541840106248856,"velocity_rad_s":0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07034739851951599,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30520227551460266,"velocity_rad_s":-0.48780590295791626,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13563746213912964,"velocity_rad_s":0.27765053510665894,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24164991080760956,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06784269958734512,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.550000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786975952960,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809046,"imu":{"quaternion":[0.9931987524032593,7.268042099894956e-05,0.0193471796810627,0.11481288820505142],"gyroscope":[0.020240021869540215,0.0074568502604961395,0.0021305286791175604],"accelerometer":[-0.3654150366783142,-0.016160860657691956,9.714473724365234],"rpy":[0.0045903874561190605,0.03842395544052124,0.23026475310325623],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014700649306178093,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318210959434509,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31088316440582275,"velocity_rad_s":0.014752798713743687,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010702867992222309,"velocity_rad_s":-0.0073225414380431175,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35532107949256897,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019953923765569925,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6013460159301758,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28517356514930725,"velocity_rad_s":-0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027607048396021128,"velocity_rad_s":0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013485639356076717,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006715549621731043,"velocity_rad_s":0.03765261173248291,"acceleration_raw":0.0,"estimated_torque_nm":-1.7055692672729492,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020824942737817764,"velocity_rad_s":0.018777206540107727,"acceleration_raw":0.0,"estimated_torque_nm":-4.238733291625977,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28238430619239807,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21536850929260254,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755279421806335,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.024627583101391792,"velocity_rad_s":-0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09532252699136734,"velocity_rad_s":0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07035938650369644,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30485472083091736,"velocity_rad_s":-0.48166999220848083,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13585317134857178,"velocity_rad_s":0.27765053510665894,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2419615089893341,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06795055419206619,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.5062500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786980377184,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809047,"imu":{"quaternion":[0.9931983351707458,8.359248749911785e-05,0.01934969052672386,0.11481566727161407],"gyroscope":[0.023435814306139946,0.008522114716470242,0.0053263213485479355],"accelerometer":[-0.22355858981609344,-0.0008978256373666227,9.733327865600586],"rpy":[0.004612764809280634,0.038426417857408524,0.23027078807353973],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014709170907735825,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317870020866394,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31087908148765564,"velocity_rad_s":0.008953078649938107,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010695649310946465,"velocity_rad_s":-0.006434151902794838,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3553551733493805,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001982000656425953,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6013801097869873,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851693630218506,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027534423861652613,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01345885545015335,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006753279361873865,"velocity_rad_s":0.03862651064991951,"acceleration_raw":0.0,"estimated_torque_nm":-1.754852294921875,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02082955278456211,"velocity_rad_s":0.012052149511873722,"acceleration_raw":0.0,"estimated_torque_nm":-4.160333156585693,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823962867259979,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755039215087891,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.02502306178212166,"velocity_rad_s":-0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":-9.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09522665292024612,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07035938650369644,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30448320508003235,"velocity_rad_s":-0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13608087599277496,"velocity_rad_s":0.28685441613197327,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24211730062961578,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0679984912276268,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786981007712,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809048,"imu":{"quaternion":[0.993198037147522,9.353600034955889e-05,0.019351307302713394,0.11481845378875732],"gyroscope":[0.021305285394191742,0.0074568502604961395,0.0053263213485479355],"accelerometer":[-0.22355858981609344,-0.0008978256373666227,9.733327865600586],"rpy":[0.0046330103650689125,0.038427338004112244,0.23027682304382324],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014683605171740055,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00898596178740263,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317870020866394,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31087079644203186,"velocity_rad_s":0.01108501572161913,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010710199363529682,"velocity_rad_s":0.0047148242592811584,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3553636968135834,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001982000656425953,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6014227271080017,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285177618265152,"velocity_rad_s":-0.004782024770975113,"acceleration_raw":0.0,"estimated_torque_nm":4.671697616577148,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002739035291597247,"velocity_rad_s":-0.004588656593114138,"acceleration_raw":0.0,"estimated_torque_nm":1.065232753753662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01344546303153038,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":2.349076747894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0067834388464689255,"velocity_rad_s":0.02895144559442997,"acceleration_raw":0.0,"estimated_torque_nm":-1.7100054025650024,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02084849402308464,"velocity_rad_s":0.013269306160509586,"acceleration_raw":0.0,"estimated_torque_nm":-4.245704174041748,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823962867259979,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755159616470337,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010174606926739216,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.025202825665473938,"velocity_rad_s":-0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":-9.0625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09497498720884323,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07035938650369644,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3041476607322693,"velocity_rad_s":-0.475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13630858063697815,"velocity_rad_s":0.29759228229522705,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24222515523433685,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06804642826318741,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.53125,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786981626144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809049,"imu":{"quaternion":[0.9931976199150085,0.00010072742588818073,0.01935301162302494,0.11482187360525131],"gyroscope":[0.015978964045643806,0.008522114716470242,0.0063915858045220375],"accelerometer":[-0.3106476664543152,-0.07631517946720123,9.599552154541016],"rpy":[0.004647830501198769,0.03842905908823013,0.23028400540351868],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014700649306178093,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317955255508423,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31086668372154236,"velocity_rad_s":0.01003018394112587,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010717473924160004,"velocity_rad_s":0.004707642365247011,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3553636968135834,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6015164852142334,"velocity_rad_s":0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851693630218506,"velocity_rad_s":0.0021033722441643476,"acceleration_raw":0.0,"estimated_torque_nm":4.58159875869751,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027534423861652613,"velocity_rad_s":0.005535865668207407,"acceleration_raw":0.0,"estimated_torque_nm":1.0128728151321411,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01345885545015335,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006798483431339264,"velocity_rad_s":0.018327083438634872,"acceleration_raw":0.0,"estimated_torque_nm":-1.6599546670913696,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.020877011120319366,"velocity_rad_s":0.013935370370745659,"acceleration_raw":0.0,"estimated_torque_nm":-4.167050838470459,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28242024779319763,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21535652875900269,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755039215087891,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010162622667849064,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.025358621031045914,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-9.0625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09487911313772202,"velocity_rad_s":0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07035938650369644,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.30344057083129883,"velocity_rad_s":-0.4555923044681549,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13674001395702362,"velocity_rad_s":0.2899223864078522,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24235698580741882,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06808238476514816,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.5062500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786983479648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809071,"imu":{"quaternion":[0.9931820631027222,0.00029765162616968155,0.01934231072664261,0.11495742946863174],"gyroscope":[0.023435814306139946,-0.010652642697095871,0.010652642697095871],"accelerometer":[-0.518943190574646,0.13018471002578735,9.578003883361816],"rpy":[0.005042060278356075,0.03836184740066528,0.23056434094905853],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34426790475845337,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014692126773297787,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008959177881479263,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318381428718567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106565773487091,"velocity_rad_s":0.01423837523907423,"acceleration_raw":0.0,"estimated_torque_nm":8.275686264038086,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01069716364145279,"velocity_rad_s":-0.0008309402619488537,"acceleration_raw":0.0,"estimated_torque_nm":-0.6881678104400635,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35546594858169556,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014172278344631195,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6024027466773987,"velocity_rad_s":0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28518587350845337,"velocity_rad_s":-0.003736154641956091,"acceleration_raw":0.0,"estimated_torque_nm":4.760956287384033,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027246458921581507,"velocity_rad_s":-0.0008951892959885299,"acceleration_raw":0.0,"estimated_torque_nm":1.0139998197555542,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013057098723948002,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007137625478208065,"velocity_rad_s":0.00192191731184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.7099772691726685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021118514239788055,"velocity_rad_s":0.006098320707678795,"acceleration_raw":0.0,"estimated_torque_nm":-4.240380764007568,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21541644632816315,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.975719690322876,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010246512480080128,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005620601586997509,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.031123032793402672,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09195496141910553,"velocity_rad_s":0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07094661146402359,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2956028878688812,"velocity_rad_s":-0.3466796576976776,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14170147478580475,"velocity_rad_s":0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2464076578617096,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0688973143696785,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786985692256,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809072,"imu":{"quaternion":[0.9931814074516296,0.00030849676113575697,0.01933913119137287,0.11496390402317047],"gyroscope":[0.021305285394191742,-0.004261057358235121,0.012783171609044075],"accelerometer":[-0.518943190574646,0.13018471002578735,9.578003883361816],"rpy":[0.005063135176897049,0.038352999836206436,0.2305777668952942],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34427642822265625,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014692126773297787,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318637132644653,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106648325920105,"velocity_rad_s":0.007368974853307009,"acceleration_raw":0.0,"estimated_torque_nm":8.275686264038086,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010682614520192146,"velocity_rad_s":-0.007372809108346701,"acceleration_raw":0.0,"estimated_torque_nm":-0.6881678104400635,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3554829955101013,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6024624109268188,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519001603126526,"velocity_rad_s":-0.0005403834511525929,"acceleration_raw":0.0,"estimated_torque_nm":4.760956287384033,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027174511924386024,"velocity_rad_s":0.0009298692457377911,"acceleration_raw":0.0,"estimated_torque_nm":1.0139998197555542,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013016922399401665,"velocity_rad_s":0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0071451482363045216,"velocity_rad_s":0.0038380695041269064,"acceleration_raw":0.0,"estimated_torque_nm":-1.7099772691726685,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02113279141485691,"velocity_rad_s":0.015861740335822105,"acceleration_raw":0.0,"estimated_torque_nm":-4.240380764007568,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826000154018402,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00436225812882185,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757316708564758,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.031326763331890106,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09185908734798431,"velocity_rad_s":0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07098256796598434,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2950036823749542,"velocity_rad_s":-0.37275734543800354,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14184528589248657,"velocity_rad_s":0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2465035319328308,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-4.506249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0689212828874588,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.4124999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786987276384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809073,"imu":{"quaternion":[0.9931814074516296,0.00030849676113575697,0.01933913119137287,0.11496390402317047],"gyroscope":[0.021305285394191742,-0.004261057358235121,0.012783171609044075],"accelerometer":[-0.518943190574646,0.13018471002578735,9.578003883361816],"rpy":[0.005063135176897049,0.038352999836206436,0.2305777668952942],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442593812942505,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014675082638859749,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008945786394178867,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318466663360596,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106566071510315,"velocity_rad_s":0.008953078649938107,"acceleration_raw":0.0,"estimated_torque_nm":8.275686264038086,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010682670399546623,"velocity_rad_s":-0.006434151902794838,"acceleration_raw":0.0,"estimated_torque_nm":-0.6881678104400635,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3554915189743042,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6024879813194275,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285198450088501,"velocity_rad_s":-0.0027019171975553036,"acceleration_raw":0.0,"estimated_torque_nm":4.760956287384033,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002731994027271867,"velocity_rad_s":0.004649346228688955,"acceleration_raw":0.0,"estimated_torque_nm":1.0139998197555542,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012990138493478298,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007137595675885677,"velocity_rad_s":0.008673609234392643,"acceleration_raw":0.0,"estimated_torque_nm":-1.6607540845870972,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021137602627277374,"velocity_rad_s":0.01156034879386425,"acceleration_raw":0.0,"estimated_torque_nm":-4.318778991699219,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826000154018402,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.215428426861763,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.975719690322876,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.031506527215242386,"velocity_rad_s":-0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0917392447590828,"velocity_rad_s":0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07100653648376465,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2947040796279907,"velocity_rad_s":-0.37582531571388245,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14214488863945007,"velocity_rad_s":0.2592427730560303,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24663536250591278,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-4.550000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0689452514052391,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.42500001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786989139584,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809074,"imu":{"quaternion":[0.9931795001029968,0.0003222257364541292,0.019335169345140457,0.11498081684112549],"gyroscope":[0.012783171609044075,0.0021305286791175604,0.015978964045643806],"accelerometer":[-0.6141127347946167,0.13018471002578735,9.640851974487305],"rpy":[0.005090166348963976,0.038341883569955826,0.23061227798461914],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442508578300476,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014675082638859749,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089190024882555,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318466663360596,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.310652494430542,"velocity_rad_s":0.008953078649938107,"acceleration_raw":0.0,"estimated_torque_nm":8.275686264038086,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010675451718270779,"velocity_rad_s":-0.006434151902794838,"acceleration_raw":0.0,"estimated_torque_nm":-0.6881678104400635,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3555000424385071,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002008784329518676,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.602522075176239,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851943373680115,"velocity_rad_s":-0.0032771979458630085,"acceleration_raw":0.0,"estimated_torque_nm":4.760956287384033,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002739188726991415,"velocity_rad_s":0.011132420971989632,"acceleration_raw":0.0,"estimated_torque_nm":1.0139998197555542,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012949963100254536,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00718285096809268,"velocity_rad_s":0.023168696090579033,"acceleration_raw":0.0,"estimated_torque_nm":-1.7099772691726685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021146908402442932,"velocity_rad_s":0.005986371543258429,"acceleration_raw":0.0,"estimated_torque_nm":-4.240380764007568,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826000154018402,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.215428426861763,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757436513900757,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.031674306839704514,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09164337068796158,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07103050500154495,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.29439249634742737,"velocity_rad_s":-0.3834952116012573,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1422886997461319,"velocity_rad_s":0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24669528007507324,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-4.518750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06898120045661926,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786990983360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809075,"imu":{"quaternion":[0.9931789040565491,0.0003284388512838632,0.019331684336066246,0.11498690396547318],"gyroscope":[0.011717907153069973,-0.004261057358235121,0.011717907153069973],"accelerometer":[-0.6670844554901123,0.041299980133771896,9.750386238098145],"rpy":[0.005101947579532862,0.03833349421620369,0.2306247353553772],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34423381090164185,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014683605171740055,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318381428718567,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.310652494430542,"velocity_rad_s":0.010007910430431366,"acceleration_raw":0.0,"estimated_torque_nm":8.275686264038086,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010675451718270779,"velocity_rad_s":-0.006426971405744553,"acceleration_raw":0.0,"estimated_torque_nm":-0.6881678104400635,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35551708936691284,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014163755811750889,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6025476455688477,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28518587350845337,"velocity_rad_s":-0.0021615338046103716,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027246458921581507,"velocity_rad_s":0.0037194769829511642,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012896395288407803,"velocity_rad_s":0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007175283506512642,"velocity_rad_s":0.010607056319713593,"acceleration_raw":0.0,"estimated_torque_nm":-1.7099772691726685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021161265671253204,"velocity_rad_s":0.010328471660614014,"acceleration_raw":0.0,"estimated_torque_nm":-4.240380764007568,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826239764690399,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.215428426861763,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00436225812882185,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757556319236755,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03202185034751892,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09140368551015854,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07106645405292511,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.29409289360046387,"velocity_rad_s":-0.3911651074886322,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.142408549785614,"velocity_rad_s":0.2377670258283615,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2467791587114334,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.587500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06900516897439957,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786992840256,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809076,"imu":{"quaternion":[0.99317866563797,0.0003365653392393142,0.01932898536324501,0.11498923599720001],"gyroscope":[0.015978964045643806,-0.0031957929022610188,0.004261057358235121],"accelerometer":[-0.5602431893348694,0.01346738450229168,9.748590469360352],"rpy":[0.005117569584399462,0.03832625225186348,0.23062968254089355],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34423381090164185,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014683605171740055,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318637132644653,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106483817100525,"velocity_rad_s":0.009500912390649319,"acceleration_raw":0.0,"estimated_torque_nm":8.275686264038086,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0106827262789011,"velocity_rad_s":0.003776168217882514,"acceleration_raw":0.0,"estimated_torque_nm":-0.6881678104400635,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35551708936691284,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014172278344631195,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020355682354420424,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6025987863540649,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851942181587219,"velocity_rad_s":-0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":4.760956287384033,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724713645875454,"velocity_rad_s":0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.0139998197555542,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012883003801107407,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007182836066931486,"velocity_rad_s":0.00771457189694047,"acceleration_raw":0.0,"estimated_torque_nm":-1.7099772691726685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02115645259618759,"velocity_rad_s":0.007289488799870014,"acceleration_raw":0.0,"estimated_torque_nm":-4.240380764007568,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826000154018402,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.215428426861763,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004350273869931698,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757556319236755,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010270480997860432,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03218962997198105,"velocity_rad_s":-0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09130781143903732,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07112637907266617,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2935416102409363,"velocity_rad_s":-0.3834952116012573,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14250442385673523,"velocity_rad_s":0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24686305224895477,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-4.550000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06902913749217987,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786994696160,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809076,"imu":{"quaternion":[0.99317866563797,0.0003365653392393142,0.01932898536324501,0.11498923599720001],"gyroscope":[0.015978964045643806,-0.0031957929022610188,0.004261057358235121],"accelerometer":[-0.5602431893348694,0.01346738450229168,9.748590469360352],"rpy":[0.005117569584399462,0.03832625225186348,0.23062968254089355],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014683605171740055,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318637132644653,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106442391872406,"velocity_rad_s":0.00948606338351965,"acceleration_raw":0.0,"estimated_torque_nm":8.275686264038086,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010675489902496338,"velocity_rad_s":-0.00364690856076777,"acceleration_raw":0.0,"estimated_torque_nm":-0.6881678104400635,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35551708936691284,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020355682354420424,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6026073098182678,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519001603126526,"velocity_rad_s":0.0005171187804080546,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027174511924386024,"velocity_rad_s":0.0027722676750272512,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01284282747656107,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00720544857904315,"velocity_rad_s":0.0067555345594882965,"acceleration_raw":0.0,"estimated_torque_nm":-1.6599271297454834,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02117065154016018,"velocity_rad_s":0.0030186285730451345,"acceleration_raw":0.0,"estimated_torque_nm":-4.161826133728027,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826000154018402,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010294449515640736,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03236939385533333,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09121193736791611,"velocity_rad_s":0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07115034759044647,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2932899296283722,"velocity_rad_s":-0.37582531571388245,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14275608956813812,"velocity_rad_s":0.200951486825943,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24701884388923645,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-4.506249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06905310600996017,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786996568096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809077,"imu":{"quaternion":[0.9931774735450745,0.0003532135160639882,0.019321467727422714,0.11500021815299988],"gyroscope":[0.014913700520992279,-0.0021305286791175604,0.010652642697095871],"accelerometer":[-0.5719149112701416,0.05386953800916672,9.741408348083496],"rpy":[0.005149353761225939,0.03830742463469505,0.2306523323059082],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34422528743743896,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014692126773297787,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318551898002625,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106442391872406,"velocity_rad_s":0.003678919281810522,"acceleration_raw":0.0,"estimated_torque_nm":8.275686264038086,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010675489902496338,"velocity_rad_s":-0.006470058113336563,"acceleration_raw":0.0,"estimated_torque_nm":-0.6881678104400635,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3555256128311157,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020355682354420424,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6026499271392822,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285198450088501,"velocity_rad_s":-0.006449704524129629,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002731994027271867,"velocity_rad_s":0.005605225916951895,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012789260596036911,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007197881117463112,"velocity_rad_s":0.002884797751903534,"acceleration_raw":0.0,"estimated_torque_nm":-1.7099772691726685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021185006946325302,"velocity_rad_s":0.007925781421363354,"acceleration_raw":0.0,"estimated_torque_nm":-4.240380764007568,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826000154018402,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757795929908752,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010282465256750584,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03274090215563774,"velocity_rad_s":-0.2592427730560303,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09111606329679489,"velocity_rad_s":0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07118629664182663,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2930143177509308,"velocity_rad_s":-0.374291330575943,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1428879201412201,"velocity_rad_s":0.2070874124765396,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24711471796035767,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.506249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06913699209690094,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.45625001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":786998415104,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809078,"imu":{"quaternion":[0.9931771159172058,0.00035898704663850367,0.019320646300911903,0.11500422656536102],"gyroscope":[0.011717907153069973,0.0010652643395587802,0.0074568502604961395],"accelerometer":[-0.558447539806366,0.011671733111143112,9.786299705505371],"rpy":[0.00516079505905509,0.038304440677165985,0.23066063225269318],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014658038504421711,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008945786394178867,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318637132644653,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106442391872406,"velocity_rad_s":0.004748600069433451,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010675489902496338,"velocity_rad_s":0.0009601994534023106,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3555341362953186,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020355682354420424,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6026840209960938,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285198450088501,"velocity_rad_s":-0.00905856303870678,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002731994027271867,"velocity_rad_s":-0.004553976934403181,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012749084271490574,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007205418311059475,"velocity_rad_s":-0.006759377662092447,"acceleration_raw":0.0,"estimated_torque_nm":-1.6599271297454834,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021189739927649498,"velocity_rad_s":-0.0005752296419814229,"acceleration_raw":0.0,"estimated_torque_nm":-4.161826133728027,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757556319236755,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010294449515640736,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03292066603899002,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09092431515455246,"velocity_rad_s":0.1457281857728958,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07124622166156769,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2927147150039673,"velocity_rad_s":-0.37582531571388245,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14300775527954102,"velocity_rad_s":0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24724654853343964,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-4.474999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06914898008108139,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.48124998807907104,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787000280096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809079,"imu":{"quaternion":[0.9931771159172058,0.00035898704663850367,0.019320646300911903,0.11500422656536102],"gyroscope":[0.011717907153069973,0.0010652643395587802,0.0074568502604961395],"accelerometer":[-0.558447539806366,0.011671733111143112,9.786299705505371],"rpy":[0.00516079505905509,0.038304440677165985,0.23066063225269318],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014649515971541405,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0089190024882555,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318637132644653,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106359839439392,"velocity_rad_s":0.004752311855554581,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010690039023756981,"velocity_rad_s":0.002815968357026577,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3555426597595215,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020355682354420424,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6027266383171082,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":-0.006943558342754841,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.0008691795519553125,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012708908878266811,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0072205085307359695,"velocity_rad_s":0.004833617247641087,"acceleration_raw":0.0,"estimated_torque_nm":-1.6599271297454834,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02118965983390808,"velocity_rad_s":-0.0030796919018030167,"acceleration_raw":0.0,"estimated_torque_nm":-4.161826133728027,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010294449515640736,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005620601586997509,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03311241418123245,"velocity_rad_s":-0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09082844108343124,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07135407626628876,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.29215145111083984,"velocity_rad_s":-0.37889325618743896,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1431635618209839,"velocity_rad_s":0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24734242260456085,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0691729485988617,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787002125376,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809080,"imu":{"quaternion":[0.9931769371032715,0.00036359395016916096,0.01932012289762497,0.11500612646341324],"gyroscope":[0.009587379172444344,0.0021305286791175604,0.0031957929022610188],"accelerometer":[-0.4659714996814728,0.03950432687997818,10.011653900146484],"rpy":[0.005169904325157404,0.038302332162857056,0.23066461086273193],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34423381090164185,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014658038504421711,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318637132644653,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106318712234497,"velocity_rad_s":0.0015766795258969069,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010682820342481136,"velocity_rad_s":-0.00277288188226521,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35555118322372437,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002048959955573082,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6027436852455139,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285198450088501,"velocity_rad_s":-0.0053573050536215305,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002731994027271867,"velocity_rad_s":0.0018944183830171824,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012641949579119682,"velocity_rad_s":0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0072129410691559315,"velocity_rad_s":-0.003863050602376461,"acceleration_raw":0.0,"estimated_torque_nm":-1.6599271297454834,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021204017102718353,"velocity_rad_s":2.0354395019239746e-05,"acceleration_raw":0.0,"estimated_torque_nm":-4.161826133728027,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826239764690399,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757795929908752,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010270480997860432,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03326820954680443,"velocity_rad_s":-0.2485048919916153,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09074455499649048,"velocity_rad_s":0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07140201330184937,"velocity_rad_s":0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2918638288974762,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14341522753238678,"velocity_rad_s":0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24755814671516418,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-4.474999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06918492913246155,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787003974592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809081,"imu":{"quaternion":[0.9931756258010864,0.00037531991256400943,0.019315136596560478,0.11501779407262802],"gyroscope":[0.011717907153069973,-0.0021305286791175604,0.013848436065018177],"accelerometer":[-0.4183867573738098,0.10953472554683685,9.964069366455078],"rpy":[0.005192514508962631,0.03828966245055199,0.23068848252296448],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34423381090164185,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014649515971541405,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318807601928711,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.310636043548584,"velocity_rad_s":0.0031459347810596228,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010661051608622074,"velocity_rad_s":-0.009257301688194275,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35555118322372437,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002048959955573082,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6027777194976807,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":-0.007460677530616522,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.0036414472851902246,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01258838176727295,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007228015922009945,"velocity_rad_s":0.005784967914223671,"acceleration_raw":0.0,"estimated_torque_nm":-1.6599271297454834,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021213483065366745,"velocity_rad_s":0.006077966187149286,"acceleration_raw":0.0,"estimated_torque_nm":-4.161826133728027,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010306433774530888,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.033495910465717316,"velocity_rad_s":-0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":-8.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09064868092536926,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07147391885519028,"velocity_rad_s":0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2915881872177124,"velocity_rad_s":-0.40343695878982544,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1435829997062683,"velocity_rad_s":0.200951486825943,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24764202535152435,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.474999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06923286616802216,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787005832960,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809082,"imu":{"quaternion":[0.9931756258010864,0.00037531991256400943,0.019315136596560478,0.11501779407262802],"gyroscope":[0.011717907153069973,-0.0021305286791175604,0.013848436065018177],"accelerometer":[-0.4183867573738098,0.10953472554683685,9.964069366455078],"rpy":[0.005192514508962631,0.03828966245055199,0.23068848252296448],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34422528743743896,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014632471837103367,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008932393975555897,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318807601928711,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106401860713959,"velocity_rad_s":0.0031533590517938137,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010653777047991753,"velocity_rad_s":-0.00554576376453042,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35555118322372437,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020757438614964485,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6028118133544922,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285198450088501,"velocity_rad_s":-0.00479365698993206,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002731994027271867,"velocity_rad_s":-0.0027375875506550074,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012548206374049187,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007227986119687557,"velocity_rad_s":0.004822087474167347,"acceleration_raw":0.0,"estimated_torque_nm":-1.7099772691726685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021232571452856064,"velocity_rad_s":0.004250505473464727,"acceleration_raw":0.0,"estimated_torque_nm":-4.240380764007568,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826239764690399,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21541644632816315,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757915735244751,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010282465256750584,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4000000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03386741876602173,"velocity_rad_s":-0.2715146243572235,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09043296426534653,"velocity_rad_s":0.1457281857728958,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07153384387493134,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2913125455379486,"velocity_rad_s":-0.40343695878982544,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1437627673149109,"velocity_rad_s":0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24771393835544586,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-4.506249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06925683468580246,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787007682688,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809083,"imu":{"quaternion":[0.9931747317314148,0.0003819283447228372,0.01931401900947094,0.11502547562122345],"gyroscope":[0.012783171609044075,0.0010652643395587802,0.014913700520992279],"accelerometer":[-0.5503671169281006,0.0628477931022644,9.81143856048584],"rpy":[0.005205688998103142,0.03828588128089905,0.2307041883468628],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014623950235545635,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008892218582332134,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318807601928711,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.310636043548584,"velocity_rad_s":0.003168208058923483,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010661051608622074,"velocity_rad_s":0.0018773123156279325,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35559380054473877,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020757438614964485,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6028714776039124,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285198450088501,"velocity_rad_s":-0.0031841390300542116,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002731994027271867,"velocity_rad_s":-0.003676127176731825,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012508030980825424,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0072355084121227264,"velocity_rad_s":0.002875189995393157,"acceleration_raw":0.0,"estimated_torque_nm":-1.7099772691726685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02124684862792492,"velocity_rad_s":0.014034279622137547,"acceleration_raw":0.0,"estimated_torque_nm":-4.240380764007568,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757915735244751,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010294449515640736,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4000000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03401122987270355,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09031312167644501,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0716177299618721,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2908092141151428,"velocity_rad_s":-0.3834952116012573,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14391855895519257,"velocity_rad_s":0.22396120429039001,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24777385592460632,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.5625,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06929279118776321,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787009550208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809084,"imu":{"quaternion":[0.9931742548942566,0.00038776040310040116,0.01931404136121273,0.1150294691324234],"gyroscope":[0.011717907153069973,0.0031957929022610188,0.0074568502604961395],"accelerometer":[-0.6554127335548401,0.05297171324491501,9.838373184204102],"rpy":[0.0052174413576722145,0.038284558802843094,0.23071244359016418],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014632471837103367,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008892218582332134,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318807601928711,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106319308280945,"velocity_rad_s":0.00526302307844162,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01065383292734623,"velocity_rad_s":-0.005531401839107275,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35555970668792725,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002089135814458132,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6028800010681152,"velocity_rad_s":0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285198450088501,"velocity_rad_s":-0.0021033722441643476,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002731994027271867,"velocity_rad_s":-0.005535865668207407,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012454463168978691,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007243060972541571,"velocity_rad_s":-0.0019392117392271757,"acceleration_raw":0.0,"estimated_torque_nm":-1.6607540845870972,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021242035552859306,"velocity_rad_s":0.004896975588053465,"acceleration_raw":0.0,"estimated_torque_nm":-4.318778991699219,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826239764690399,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010294449515640736,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.034155040979385376,"velocity_rad_s":-0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0902412161231041,"velocity_rad_s":0.13038837909698486,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07165367901325226,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.29055753350257874,"velocity_rad_s":-0.38196122646331787,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14426609873771667,"velocity_rad_s":0.22242721915245056,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24786972999572754,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-4.643750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06932874023914337,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.46875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787011398080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809085,"imu":{"quaternion":[0.9931730031967163,0.0004023853689432144,0.019316500052809715,0.11504003405570984],"gyroscope":[0.014913700520992279,0.0053263213485479355,0.010652642697095871],"accelerometer":[-0.7092822790145874,0.2298433631658554,9.660603523254395],"rpy":[0.005247487220913172,0.03828602656722069,0.23073430359363556],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014615427702665329,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008892218582332134,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318722367286682,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106319308280945,"velocity_rad_s":0.0026166627649217844,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01065383292734623,"velocity_rad_s":-0.01018877699971199,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3555682301521301,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0021025275345891714,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6029055714607239,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":-0.0031841390300542116,"acceleration_raw":0.0,"estimated_torque_nm":4.9411540031433105,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.003676127176731825,"acceleration_raw":0.0,"estimated_torque_nm":1.1187198162078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012374111451208591,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0072355084121227264,"velocity_rad_s":-0.012565482407808304,"acceleration_raw":0.0,"estimated_torque_nm":-1.6107038259506226,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02124684862792492,"velocity_rad_s":0.006785499397665262,"acceleration_raw":0.0,"estimated_torque_nm":-4.240224361419678,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826239764690399,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21541644632816315,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00436225812882185,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010306433774530888,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.034334804862737656,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09013336151838303,"velocity_rad_s":0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07167764753103256,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.29028189182281494,"velocity_rad_s":-0.3804272413253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1444578468799591,"velocity_rad_s":0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24803751707077026,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-4.550000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06935270875692368,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787013256992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809086,"imu":{"quaternion":[0.9931730031967163,0.0004023853689432144,0.019316500052809715,0.11504003405570984],"gyroscope":[0.014913700520992279,0.0053263213485479355,0.010652642697095871],"accelerometer":[-0.7092822790145874,0.2298433631658554,9.660603523254395],"rpy":[0.005247487220913172,0.03828602656722069,0.23073430359363556],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014615427702665329,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008878827095031738,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318637132644653,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3106319308280945,"velocity_rad_s":-0.0005515455850400031,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01065383292734623,"velocity_rad_s":-0.012066089548170567,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35559380054473877,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014163755811750889,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002089135814458132,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6029396653175354,"velocity_rad_s":0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":-0.005299143493175507,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.0073609245009720325,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012320543639361858,"velocity_rad_s":0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007243046071380377,"velocity_rad_s":-0.009671077132225037,"acceleration_raw":0.0,"estimated_torque_nm":-1.6107038259506226,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021251581609249115,"velocity_rad_s":0.00860278308391571,"acceleration_raw":0.0,"estimated_torque_nm":-4.240224361419678,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826000154018402,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757795929908752,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010294449515640736,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005608617328107357,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03465837985277176,"velocity_rad_s":-0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0899416133761406,"velocity_rad_s":0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07172558456659317,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.29005420207977295,"velocity_rad_s":-0.37275734543800354,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14464959502220154,"velocity_rad_s":0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24809743463993073,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.618750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06940064579248428,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.42500001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787015110400,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809087,"imu":{"quaternion":[0.9931718111038208,0.00040880683809518814,0.019317030906677246,0.11504985392093658],"gyroscope":[0.011717907153069973,0.0031957929022610188,0.019174758344888687],"accelerometer":[-0.7092822790145874,0.2298433631658554,9.660603523254395],"rpy":[0.005260753445327282,0.038285549730062485,0.23075434565544128],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014606906101107597,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008865434676408768,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631889283657074,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31062784790992737,"velocity_rad_s":0.001569255255162716,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010646614246070385,"velocity_rad_s":-0.006484420038759708,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35559380054473877,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0021025275345891714,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.602965235710144,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851943373680115,"velocity_rad_s":-0.0032423005905002356,"acceleration_raw":0.0,"estimated_torque_nm":4.851055145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002739188726991415,"velocity_rad_s":0.005579215474426746,"acceleration_raw":0.0,"estimated_torque_nm":1.0663598775863647,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012293760664761066,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007258121389895678,"velocity_rad_s":-0.01256740465760231,"acceleration_raw":0.0,"estimated_torque_nm":-1.6107038259506226,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021261045709252357,"velocity_rad_s":0.008007199503481388,"acceleration_raw":0.0,"estimated_torque_nm":-4.240224361419678,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2154044657945633,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004374242387712002,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757915735244751,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010294449515640736,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03485012799501419,"velocity_rad_s":-0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08986970782279968,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07185741513967514,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.289790540933609,"velocity_rad_s":-0.37889325618743896,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14484134316444397,"velocity_rad_s":0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2481573522090912,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-4.65625,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06941263377666473,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.4437499940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787017296640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809106,"imu":{"quaternion":[0.9931514859199524,0.0005436757928691804,0.019323859363794327,0.11522343009710312],"gyroscope":[0.015978964045643806,0.010652642697095871,0.015978964045643806],"accelerometer":[-0.5422866940498352,0.07900865375995636,9.806949615478516],"rpy":[0.005537108983844519,0.038267090916633606,0.23110917210578918],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014444985426962376,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008771691471338272,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318466663360596,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3105374574661255,"velocity_rad_s":0.002076254226267338,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010516751557588577,"velocity_rad_s":-0.016687560826539993,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35569605231285095,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0140785351395607,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023034061305224895,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603340208530426,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":0.0005054863868281245,"acceleration_raw":0.0,"estimated_torque_nm":4.9411540031433105,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":0.004623336251825094,"acceleration_raw":0.0,"estimated_torque_nm":1.1187198162078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011490246281027794,"velocity_rad_s":0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007190013770014048,"velocity_rad_s":0.012539483606815338,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021409228444099426,"velocity_rad_s":0.010314755141735077,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010282465256750584,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03801396116614342,"velocity_rad_s":-0.18100973963737488,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08767659217119217,"velocity_rad_s":0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.073391392827034,"velocity_rad_s":0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.28288763761520386,"velocity_rad_s":-0.41264083981513977,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14934740960597992,"velocity_rad_s":0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2491280734539032,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.768750190734863,"temperature_raw":[47,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07025153189897537,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.518750011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787019319968,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809107,"imu":{"quaternion":[0.9931506514549255,0.0005511602503247559,0.019328827038407326,0.11523004621267319],"gyroscope":[0.014913700520992279,0.011717907153069973,0.012783171609044075],"accelerometer":[-0.5440823435783386,0.08888474106788635,9.666888236999512],"rpy":[0.0055533889681100845,0.03827519714832306,0.23112288117408752],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0144108971580863,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00873151607811451,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318296194076538,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3105333149433136,"velocity_rad_s":0.0015618308680132031,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010524044744670391,"velocity_rad_s":-0.01019595842808485,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35568752884864807,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014104100875556469,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002316797850653529,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603340208530426,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":0.006391542498022318,"acceleration_raw":0.0,"estimated_torque_nm":4.9411540031433105,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":0.00365011696703732,"acceleration_raw":0.0,"estimated_torque_nm":1.1187198162078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011476854793727398,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007197551429271698,"velocity_rad_s":0.0028870534151792526,"acceleration_raw":0.0,"estimated_torque_nm":-1.7071988582611084,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021413959562778473,"velocity_rad_s":0.007916931994259357,"acceleration_raw":0.0,"estimated_torque_nm":-4.403075695037842,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757795929908752,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010282465256750584,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03809785097837448,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-8.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08762865513563156,"velocity_rad_s":0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07357116043567657,"velocity_rad_s":0.13038837909698486,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2823243737220764,"velocity_rad_s":-0.4080389142036438,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14949122071266174,"velocity_rad_s":0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2491520494222641,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.824999809265137,"temperature_raw":[47,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07031144946813583,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.550000011920929,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787020943744,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809108,"imu":{"quaternion":[0.9931499361991882,0.000556766870431602,0.01933186873793602,0.11523565649986267],"gyroscope":[0.010652642697095871,0.008522114716470242,0.010652642697095871],"accelerometer":[-0.4596867263317108,0.176871657371521,9.559149742126465],"rpy":[0.005565452855080366,0.03827991709113121,0.23113441467285156],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014427941292524338,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008744907565414906,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318210959434509,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3105333745479584,"velocity_rad_s":0.00260923826135695,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010495021007955074,"velocity_rad_s":-0.013900315389037132,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014087056741118431,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002316797850653529,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033572554588318,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520673513412476,"velocity_rad_s":-0.0005403834511525929,"acceleration_raw":0.0,"estimated_torque_nm":4.9411540031433105,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717604860663414,"velocity_rad_s":0.0009298692457377911,"acceleration_raw":0.0,"estimated_torque_nm":1.1187198162078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01143667846918106,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007174904458224773,"velocity_rad_s":-0.016435453668236732,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02142835408449173,"velocity_rad_s":0.017760444432497025,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010282465256750584,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0381937250494957,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-8.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08755674958229065,"velocity_rad_s":0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07366703450679779,"velocity_rad_s":0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2820607125759125,"velocity_rad_s":-0.40343695878982544,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14975488185882568,"velocity_rad_s":0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24925990402698517,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-4.756249904632568,"temperature_raw":[47,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07035938650369644,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787026739072,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809109,"imu":{"quaternion":[0.9931483864784241,0.0005637017893604934,0.01933129131793976,0.1152491569519043],"gyroscope":[0.0053263213485479355,0.0021305286791175604,0.013848436065018177],"accelerometer":[-0.49380409717559814,0.20380641520023346,9.786299705505371],"rpy":[0.0055796243250370026,0.038277097046375275,0.23116189241409302],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441656231880188,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0144108971580863,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00873151607811451,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318210959434509,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3105250895023346,"velocity_rad_s":0.004204479046165943,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01050958875566721,"velocity_rad_s":-0.007394351996481419,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0140785351395607,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023301898036152124,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033572554588318,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.9411540031433105,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1187198162078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011356327682733536,"velocity_rad_s":0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007167343515902758,"velocity_rad_s":-0.018365057185292244,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021442683413624763,"velocity_rad_s":0.016548922285437584,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28261199593544006,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21534454822540283,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010282465256750584,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03839745745062828,"velocity_rad_s":-0.16720391809940338,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08749683201313019,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07377488911151886,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2818090617656708,"velocity_rad_s":-0.39576706290245056,"acceleration_raw":0.0,"estimated_torque_nm":-8.25,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14988671243190765,"velocity_rad_s":0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24929586052894592,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-4.724999904632568,"temperature_raw":[47,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07044327259063721,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.574999988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787028514272,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809110,"imu":{"quaternion":[0.9931483864784241,0.0005637017893604934,0.01933129131793976,0.1152491569519043],"gyroscope":[0.0053263213485479355,0.0021305286791175604,0.013848436065018177],"accelerometer":[-0.49380409717559814,0.20380641520023346,9.786299705505371],"rpy":[0.0055796243250370026,0.038277097046375275,0.23116189241409302],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014393853023648262,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008718123659491539,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318210959434509,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31051692366600037,"velocity_rad_s":0.005762597545981407,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010480639524757862,"velocity_rad_s":-0.019446078687906265,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014070012606680393,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023301898036152124,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521499037742615,"velocity_rad_s":-0.007495574187487364,"acceleration_raw":0.0,"estimated_torque_nm":4.9411540031433105,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027032154612243176,"velocity_rad_s":0.001911758678033948,"acceleration_raw":0.0,"estimated_torque_nm":1.1187198162078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01132954377681017,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007159746252000332,"velocity_rad_s":-0.012577713467180729,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021485604345798492,"velocity_rad_s":0.021403418853878975,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28263595700263977,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010282465256750584,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0385173000395298,"velocity_rad_s":-0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08735302090644836,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07384679466485977,"velocity_rad_s":0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.281533420085907,"velocity_rad_s":-0.38656318187713623,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15000654757022858,"velocity_rad_s":0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24930784106254578,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.712500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07050319761037827,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787030831616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809111,"imu":{"quaternion":[0.9931475520133972,0.0005689296522177756,0.019330831244587898,0.11525637656450272],"gyroscope":[0.008522114716470242,0.0021305286791175604,0.013848436065018177],"accelerometer":[-0.49380409717559814,0.20380641520023346,9.786299705505371],"rpy":[0.005590187851339579,0.03827493265271187,0.23117659986019135],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014376808889210224,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008691340684890747,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318296194076538,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31051692366600037,"velocity_rad_s":-0.002143074059858918,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010480639524757862,"velocity_rad_s":-0.016716284677386284,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014070012606680393,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023703654296696186,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521084785461426,"velocity_rad_s":-0.004323067609220743,"acceleration_raw":0.0,"estimated_torque_nm":4.9411540031433105,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027104101609438658,"velocity_rad_s":0.0074389539659023285,"acceleration_raw":0.0,"estimated_torque_nm":1.1187198162078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011289368383586407,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007174821570515633,"velocity_rad_s":-0.0009853882947936654,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021495068445801735,"velocity_rad_s":0.016473256051540375,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28263595700263977,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010282465256750584,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03862515836954117,"velocity_rad_s":-0.16260196268558502,"acceleration_raw":0.0,"estimated_torque_nm":-8.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08725714683532715,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0740145742893219,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2810780107975006,"velocity_rad_s":-0.3528155982494354,"acceleration_raw":0.0,"estimated_torque_nm":-8.3125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15011440217494965,"velocity_rad_s":0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2493797391653061,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-4.78125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07056311517953873,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.6000000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787032646048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809112,"imu":{"quaternion":[0.993146538734436,0.0005774996243417263,0.019330676645040512,0.11526508629322052],"gyroscope":[0.014913700520992279,0.0021305286791175604,0.017044229432940483],"accelerometer":[-0.4767454266548157,0.24779987335205078,9.603142738342285],"rpy":[0.005607523024082184,0.03827260062098503,0.23119445145130157],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014368286356329918,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008677948266267776,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631812572479248,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31051695346832275,"velocity_rad_s":-0.00476716086268425,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010466146282851696,"velocity_rad_s":-0.01023904513567686,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014087056741118431,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023703654296696186,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521499037742615,"velocity_rad_s":-0.004253273364156485,"acceleration_raw":0.0,"estimated_torque_nm":4.9411540031433105,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027032154612243176,"velocity_rad_s":-0.0036674567963927984,"acceleration_raw":0.0,"estimated_torque_nm":1.1187198162078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01126258447766304,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007167283911257982,"velocity_rad_s":-0.003878322895616293,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02149033546447754,"velocity_rad_s":0.013436042703688145,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28263595700263977,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010246512480080128,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03875698521733284,"velocity_rad_s":-0.16720391809940338,"acceleration_raw":0.0,"estimated_torque_nm":-8.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08718524128198624,"velocity_rad_s":0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07405053079128265,"velocity_rad_s":0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.28086230158805847,"velocity_rad_s":-0.34207773208618164,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15034210681915283,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24948759377002716,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-4.6875,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07062304019927979,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787035238912,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809113,"imu":{"quaternion":[0.9931454658508301,0.0005844756960868835,0.019330818206071854,0.1152738630771637],"gyroscope":[0.011717907153069973,0.0031957929022610188,0.017044229432940483],"accelerometer":[-0.48392802476882935,0.1966238170862198,9.758466720581055],"rpy":[0.005621761083602905,0.0382712222635746,0.23121239244937897],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014359764754772186,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00866455677896738,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317955255508423,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31049633026123047,"velocity_rad_s":0.0036640705075114965,"acceleration_raw":0.0,"estimated_torque_nm":8.18514633178711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010473551228642464,"velocity_rad_s":-0.013893134891986847,"acceleration_raw":0.0,"estimated_torque_nm":-0.7396492958068848,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35574719309806824,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014070012606680393,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002383757382631302,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521084785461426,"velocity_rad_s":-0.006368278060108423,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027104101609438658,"velocity_rad_s":-0.00735225435346365,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011195625178515911,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007189896423369646,"velocity_rad_s":0.0019193108892068267,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021504534408450127,"velocity_rad_s":0.009751031175255775,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28263595700263977,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757556319236755,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.038840875029563904,"velocity_rad_s":-0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":-8.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08712531626224518,"velocity_rad_s":0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07412243634462357,"velocity_rad_s":0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.28064659237861633,"velocity_rad_s":-0.3298058807849884,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1504499614238739,"velocity_rad_s":0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24957148730754852,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-4.65625,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.070718914270401,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.6000000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787037208544,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809114,"imu":{"quaternion":[0.9931444525718689,0.0005913507775403559,0.019331440329551697,0.11528263986110687],"gyroscope":[0.011717907153069973,0.004261057358235121,0.017044229432940483],"accelerometer":[-0.497395396232605,0.11043255031108856,9.709086418151855],"rpy":[0.005635908804833889,0.038270823657512665,0.23123034834861755],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014342720620334148,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00866455677896738,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317955255508423,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31049636006355286,"velocity_rad_s":0.002072541508823633,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010459039360284805,"velocity_rad_s":-0.01854332722723484,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35573866963386536,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014070012606680393,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002397149335592985,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520673513412476,"velocity_rad_s":-0.00423000892624259,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717604860663414,"velocity_rad_s":-0.007369594182819128,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011155448853969574,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007167261093854904,"velocity_rad_s":0.006750672589987516,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02150939777493477,"velocity_rad_s":0.006680188234895468,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28265994787216187,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03906857594847679,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08701746165752411,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07419434189796448,"velocity_rad_s":0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2804548442363739,"velocity_rad_s":-0.31139811873435974,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15058179199695587,"velocity_rad_s":0.18100973963737488,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24964340031147003,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-4.618750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07079081982374191,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.612500011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787039786848,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809115,"imu":{"quaternion":[0.9931434392929077,0.0005964953452348709,0.019333336502313614,0.11529093980789185],"gyroscope":[0.008522114716470242,0.0074568502604961395,0.015978964045643806],"accelerometer":[-0.40222588181495667,0.19033902883529663,9.734225273132324],"rpy":[0.005646892823278904,0.03827335312962532,0.23124729096889496],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441997170448303,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01432567648589611,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008637772873044014,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317955255508423,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31049221754074097,"velocity_rad_s":0.003678919281810522,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010466313920915127,"velocity_rad_s":-0.006470058113336563,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014061490073800087,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002423933008685708,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033998727798462,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285198450088501,"velocity_rad_s":-0.0015513562830165029,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002731994027271867,"velocity_rad_s":-0.00831680279225111,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011115273460745811,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007167237810790539,"velocity_rad_s":-0.002913521137088537,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02152845822274685,"velocity_rad_s":0.014041803777217865,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28265994787216187,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757556319236755,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010270480997860432,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03918841481208801,"velocity_rad_s":-0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08695753663778305,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07436211407184601,"velocity_rad_s":0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2800833284854889,"velocity_rad_s":-0.2853204309940338,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1507016271352768,"velocity_rad_s":0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24973927438259125,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-4.599999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07082676887512207,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.612500011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787041570752,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809116,"imu":{"quaternion":[0.9931425452232361,0.0005990151548758149,0.019334815442562103,0.11529825627803802],"gyroscope":[0.0031957929022610188,0.0074568502604961395,0.013848436065018177],"accelerometer":[-0.40222588181495667,0.19033902883529663,9.734225273132324],"rpy":[0.005652526393532753,0.03827567398548126,0.23126213252544403],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014308631420135498,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00865116436034441,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31051284074783325,"velocity_rad_s":0.0031533590517938137,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010458926670253277,"velocity_rad_s":-0.00554576376453042,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014070012606680393,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002423933008685708,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033998727798462,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520673513412476,"velocity_rad_s":-0.011115405708551407,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717604860663414,"velocity_rad_s":-0.017494115978479385,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011088489554822445,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007144590839743614,"velocity_rad_s":-0.006774199195206165,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021542852744460106,"velocity_rad_s":0.012838688679039478,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28265994787216187,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757556319236755,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010246512480080128,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.039320241659879684,"velocity_rad_s":-0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08689761906862259,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07445798814296722,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2798795998096466,"velocity_rad_s":-0.28685441613197327,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15090537071228027,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.24989506602287292,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-4.599999904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07088669389486313,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.5874999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787043954880,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809117,"imu":{"quaternion":[0.9931418299674988,0.00059990503359586,0.019335955381393433,0.11530456691980362],"gyroscope":[-0.0,0.0074568502604961395,0.011717907153069973],"accelerometer":[-0.37169981002807617,0.13108254969120026,9.876082420349121],"rpy":[0.005654801614582539,0.03827769681811333,0.23127491772174835],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014308631420135498,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008637772873044014,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317870020866394,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31049636006355286,"velocity_rad_s":0.00629929406568408,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010459039360284805,"velocity_rad_s":-0.014803065918385983,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014044445939362049,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002423933008685708,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033998727798462,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":-0.0037128899712115526,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.004597326274961233,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011021530255675316,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007152116857469082,"velocity_rad_s":-0.00870821438729763,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021557116881012917,"velocity_rad_s":0.015286955051124096,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826839089393616,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757795929908752,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03942809998989105,"velocity_rad_s":-0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08682571351528168,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07454188168048859,"velocity_rad_s":0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2796878516674042,"velocity_rad_s":-0.28071850538253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15101322531700134,"velocity_rad_s":0.15800002217292786,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2499789595603943,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-4.53125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0709945484995842,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.5874999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787034786112,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":19712,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 150, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 394, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 264, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 6088398, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":150,"normal_force2":0,"normal_force3":0,"self_proximity1":6088398,"self_proximity2":0,"status":8448,"tangential_direction1":264,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":394,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 60, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 40, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 284, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 4017103, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":60,"normal_force2":0,"normal_force3":0,"self_proximity1":4017103,"self_proximity2":0,"status":6912,"tangential_direction1":284,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":40,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 26, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 19, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 272, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 2495486, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":26,"normal_force2":0,"normal_force3":0,"self_proximity1":2495486,"self_proximity2":0,"status":7168,"tangential_direction1":272,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":19,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 58, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 10, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 278, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 3923534, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":58,"normal_force2":0,"normal_force3":0,"self_proximity1":3923534,"self_proximity2":0,"status":18688,"tangential_direction1":278,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":10,"tangential_force2":0,"tangential_force3":0}],"touch_metric":394.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":787046713888,"stream":"brainco.motor","data":{"currents":[12,-100,20,3,-21,2],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [12, -100, 20, 3, -21, 2],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":787047585632,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":394.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.06458976337448559}} +{"timestamp_monotonic_ns":787047823808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809118,"imu":{"quaternion":[0.9931412935256958,0.000601325707975775,0.0193365179002285,0.11530926823616028],"gyroscope":[0.0010652643395587802,0.0063915858045220375,0.008522114716470242],"accelerometer":[-0.3869628608226776,0.13198037445545197,9.907505989074707],"rpy":[0.005657935980707407,0.03827845677733421,0.23128445446491241],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014300109818577766,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008624380454421043,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3105045557022095,"velocity_rad_s":0.0021022395230829716,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010473495349287987,"velocity_rad_s":-0.0036971759982407093,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0024373249616473913,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519827127456665,"velocity_rad_s":0.002736814320087433,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027030620258301497,"velocity_rad_s":-0.010202552191913128,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010981354862451553,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007144556380808353,"velocity_rad_s":-0.012564480304718018,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02157144621014595,"velocity_rad_s":0.010424050502479076,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2827078700065613,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010246512480080128,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03965580090880394,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08677777647972107,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0746617242693901,"velocity_rad_s":0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27954402565956116,"velocity_rad_s":-0.2592427730560303,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1510971188545227,"velocity_rad_s":0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2500748336315155,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-4.574999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07103050500154495,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787050930848,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809119,"imu":{"quaternion":[0.9931403994560242,0.0006049312651157379,0.01933779940009117,0.11531656235456467],"gyroscope":[0.0053263213485479355,0.0074568502604961395,0.013848436065018177],"accelerometer":[-0.43185412883758545,0.1966238170862198,9.710882186889648],"rpy":[0.005665681324899197,0.03828012943267822,0.2312992960214615],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441656231880188,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01429158728569746,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008610988967120647,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317955255508423,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31049227714538574,"velocity_rad_s":0.003138510510325432,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010437308810651302,"velocity_rad_s":-0.012968840077519417,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0024507169146090746,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":0.003288829931989312,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.012983489781618118,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010954570956528187,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0071596200577914715,"velocity_rad_s":-0.0019457786111161113,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021590441465377808,"velocity_rad_s":0.012207705527544022,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2827078700065613,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757676124572754,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03977564349770546,"velocity_rad_s":-0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08663396537303925,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07480553537607193,"velocity_rad_s":0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27936428785324097,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15119299292564392,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2501826882362366,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.550000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07106645405292511,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787051584480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809120,"imu":{"quaternion":[0.9931395053863525,0.0006086143548600376,0.01933852955698967,0.11532440036535263],"gyroscope":[0.0053263213485479355,0.0063915858045220375,0.014913700520992279],"accelerometer":[-0.44352585077285767,0.15173253417015076,9.621996879577637],"rpy":[0.005673472303897142,0.03828068822622299,0.2313152402639389],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441656231880188,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014283065684139729,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008597597479820251,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317870020866394,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31048810482025146,"velocity_rad_s":0.0005181353772059083,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010459095239639282,"velocity_rad_s":-0.00463583180680871,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0024507169146090746,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":-0.0010575022315606475,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.001842398545704782,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010941178537905216,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007167146075516939,"velocity_rad_s":-0.004837243817746639,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02160470560193062,"velocity_rad_s":0.007950562052428722,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2827078700065613,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757915735244751,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03988350182771683,"velocity_rad_s":-0.17947575449943542,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08657404035329819,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0748894214630127,"velocity_rad_s":0.13805827498435974,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2790526747703552,"velocity_rad_s":-0.23623305559158325,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15133678913116455,"velocity_rad_s":0.13805827498435974,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2502546012401581,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.506249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07115034759044647,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.6000000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787053944192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809121,"imu":{"quaternion":[0.9931384325027466,0.0006133862189017236,0.019339337944984436,0.11533322185277939],"gyroscope":[0.0074568502604961395,0.0063915858045220375,0.017044229432940483],"accelerometer":[-0.44352585077285767,0.15173253417015076,9.621996879577637],"rpy":[0.005683485418558121,0.038281142711639404,0.2313331961631775],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01426602154970169,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008597597479820251,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318040490150452,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31048810482025146,"velocity_rad_s":-0.00422675209119916,"acceleration_raw":0.0,"estimated_torque_nm":8.002659797668457,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010459095239639282,"velocity_rad_s":-0.0037402622401714325,"acceleration_raw":0.0,"estimated_torque_nm":-0.6359590888023376,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014010357670485973,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0024775005877017975,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519827127456665,"velocity_rad_s":0.002196430927142501,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027030620258301497,"velocity_rad_s":-0.00927268248051405,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01092778705060482,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00718222139403224,"velocity_rad_s":-0.0115967383608222,"acceleration_raw":0.0,"estimated_torque_nm":-1.5579121112823486,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02161416970193386,"velocity_rad_s":0.008589952252805233,"acceleration_raw":0.0,"estimated_torque_nm":-4.324306488037109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2827078700065613,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757915735244751,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010246512480080128,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.039991360157728195,"velocity_rad_s":-0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08650213479995728,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07498529553413391,"velocity_rad_s":0.13805827498435974,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2788849174976349,"velocity_rad_s":-0.2377670258283615,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15144465863704681,"velocity_rad_s":0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25043436884880066,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-4.462500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07124622166156769,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.668749988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787055977728,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809122,"imu":{"quaternion":[0.9931377172470093,0.0006202717195264995,0.019339894875884056,0.11533936113119125],"gyroscope":[0.011717907153069973,0.0053263213485479355,0.011717907153069973],"accelerometer":[-0.4785410761833191,0.17148469388484955,9.648932456970215],"rpy":[0.005697537213563919,0.03828062489628792,0.23134583234786987],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441997170448303,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014283065684139729,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008570813573896885,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317870020866394,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31048813462257385,"velocity_rad_s":-0.004234176594763994,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010444601997733116,"velocity_rad_s":-0.007451800629496574,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0024775005877017975,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010860827751457691,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007167111616581678,"velocity_rad_s":-0.01160114910453558,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021633297204971313,"velocity_rad_s":0.012249741703271866,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28274381160736084,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757795929908752,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04024302959442139,"velocity_rad_s":-0.18867965042591095,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08645419776439667,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07505720108747482,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2787051498889923,"velocity_rad_s":-0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15152853727340698,"velocity_rad_s":0.15493206679821014,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25054222345352173,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-4.462500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07130613923072815,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.612500011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787057635680,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809123,"imu":{"quaternion":[0.9931371212005615,0.000627253670245409,0.019339928403496742,0.11534442752599716],"gyroscope":[0.011717907153069973,0.004261057358235121,0.009587379172444344],"accelerometer":[-0.47494974732398987,0.22445641458034515,9.684844970703125],"rpy":[0.005711618345230818,0.03827904537320137,0.23135629296302795],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014248977415263653,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008597597479820251,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317955255508423,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31048399209976196,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010451876558363438,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35573866963386536,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0025176764465868473,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010793867520987988,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007159562781453133,"velocity_rad_s":-0.02994120866060257,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021638095378875732,"velocity_rad_s":0.008059858344495296,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28276780247688293,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9758275151252747,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01025849673897028,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.040350887924432755,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08633435517549515,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07524894922971725,"velocity_rad_s":0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27854934334754944,"velocity_rad_s":-0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15161243081092834,"velocity_rad_s":0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2506261169910431,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0713420957326889,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787059899712,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809123,"imu":{"quaternion":[0.9931371212005615,0.000627253670245409,0.019339928403496742,0.11534442752599716],"gyroscope":[0.011717907153069973,0.004261057358235121,0.009587379172444344],"accelerometer":[-0.47494974732398987,0.22445641458034515,9.684844970703125],"rpy":[0.005711618345230818,0.03827904537320137,0.23135629296302795],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014240454882383347,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008557421155273914,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317529678344727,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31046339869499207,"velocity_rad_s":0.00580343184992671,"acceleration_raw":0.0,"estimated_torque_nm":8.093903541564941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010459263809025288,"velocity_rad_s":0.0009673802996985614,"acceleration_raw":0.0,"estimated_torque_nm":-0.6878041625022888,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002504284493625164,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851983606815338,"velocity_rad_s":0.005287511274218559,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027175189461559057,"velocity_rad_s":0.009211992844939232,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.010780476033687592,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007144453004002571,"velocity_rad_s":-0.030908949673175812,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021657222881913185,"velocity_rad_s":0.009893955662846565,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28279176354408264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9758275151252747,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010246512480080128,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04043477773666382,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08627443760633469,"velocity_rad_s":0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07532085478305817,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2782617211341858,"velocity_rad_s":-0.2316311150789261,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15180417895317078,"velocity_rad_s":0.1457281857728958,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2507219910621643,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07143796980381012,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787061521728,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809147,"imu":{"quaternion":[0.9931212067604065,0.0006791880587115884,0.01934412494301796,0.11548039317131042],"gyroscope":[0.008522114716470242,0.009587379172444344,0.0010652643395587802],"accelerometer":[-0.3734954595565796,0.3636193871498108,9.894936561584473],"rpy":[0.005821061786264181,0.038274601101875305,0.23163220286369324],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01398479100316763,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008262800052762032,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316421627998352,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3104058802127838,"velocity_rad_s":0.0020985272713005543,"acceleration_raw":0.0,"estimated_torque_nm":8.003363609313965,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010372658260166645,"velocity_rad_s":-0.00555294519290328,"acceleration_raw":0.0,"estimated_torque_nm":-0.7392856478691101,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35574719309806824,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002731946762651205,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603485107421875,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519412875175476,"velocity_rad_s":0.00377105176448822,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710256725549698,"velocity_rad_s":-0.004658016376197338,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009615381248295307,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070535787381231785,"velocity_rad_s":-0.006768317427486181,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021953068673610687,"velocity_rad_s":0.007958969101309776,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28318724036216736,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759234189987183,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010306433774530888,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04298741742968559,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08471649140119553,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0773581713438034,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27415114641189575,"velocity_rad_s":-0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15421301126480103,"velocity_rad_s":0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2540775537490845,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":-4.256249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07327155023813248,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787063552320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809147,"imu":{"quaternion":[0.9931212067604065,0.0006791880587115884,0.01934412494301796,0.11548039317131042],"gyroscope":[0.008522114716470242,0.009587379172444344,0.0010652643395587802],"accelerometer":[-0.3734954595565796,0.3636193871498108,9.894936561584473],"rpy":[0.005821061786264181,0.038274601101875305,0.23163220286369324],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01398479100316763,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008276191540062428,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316336393356323,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103935420513153,"velocity_rad_s":0.0010511197615414858,"acceleration_raw":0.0,"estimated_torque_nm":8.003363609313965,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010365495458245277,"velocity_rad_s":-0.0018485879991203547,"acceleration_raw":0.0,"estimated_torque_nm":-0.7392856478691101,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027453387156128883,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603485107421875,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851983606815338,"velocity_rad_s":0.0021499013528227806,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027175189461559057,"velocity_rad_s":-0.0018684084061533213,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009615381248295307,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070535787381231785,"velocity_rad_s":-0.006763906218111515,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021953068673610687,"velocity_rad_s":0.004299180116504431,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2832231819629669,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759234189987183,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01031841803342104,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04304733872413635,"velocity_rad_s":-0.13038837909698486,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08464458584785461,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07739412784576416,"velocity_rad_s":0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2740912139415741,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15438078343868256,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2543412148952484,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-4.175000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07335544377565384,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787065768672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809148,"imu":{"quaternion":[0.9931201934814453,0.0006855487590655684,0.019342178478837013,0.11548931151628494],"gyroscope":[-0.0,0.0031957929022610188,0.009587379172444344],"accelerometer":[-0.47315409779548645,0.33937808871269226,9.773730278015137],"rpy":[0.00583359831944108,0.03826920688152313,0.23165039718151093],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013967746868729591,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008262800052762032,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316336393356323,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3104018270969391,"velocity_rad_s":-0.0031830568332225084,"acceleration_raw":0.0,"estimated_torque_nm":8.003363609313965,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010336451232433319,"velocity_rad_s":-0.009300388395786285,"acceleration_raw":0.0,"estimated_torque_nm":-0.7392856478691101,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01395922526717186,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002731946762651205,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851899266242981,"velocity_rad_s":0.007553735747933388,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027029942721128464,"velocity_rad_s":-0.011167101562023163,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009548421949148178,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007038503885269165,"velocity_rad_s":-0.01544859353452921,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021943602710962296,"velocity_rad_s":6.725895218551159e-05,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2832231819629669,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759353995323181,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01031841803342104,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04313122481107712,"velocity_rad_s":-0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.084596648812294,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07744206488132477,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.273983359336853,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15446467697620392,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25443708896636963,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07351123541593552,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787067697472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809149,"imu":{"quaternion":[0.9931193590164185,0.0006861054571345448,0.019339894875884056,0.11549674719572067],"gyroscope":[-0.004261057358235121,0.0021305286791175604,0.013848436065018177],"accelerometer":[-0.47315409779548645,0.33937808871269226,9.773730278015137],"rpy":[0.0058344630524516106,0.038264498114585876,0.23166535794734955],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441656231880188,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013976269401609898,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008262800052762032,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316336393356323,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103976845741272,"velocity_rad_s":-0.001598952803760767,"acceleration_raw":0.0,"estimated_torque_nm":8.003363609313965,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010358219966292381,"velocity_rad_s":-0.008361732587218285,"acceleration_raw":0.0,"estimated_torque_nm":-0.7392856478691101,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027453387156128883,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519412875175476,"velocity_rad_s":0.004392861854285002,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710256725549698,"velocity_rad_s":-0.0185453649610281,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009508245624601841,"velocity_rad_s":0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007038492243736982,"velocity_rad_s":-0.01062164269387722,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02195313386619091,"velocity_rad_s":0.000656205287668854,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2832831144332886,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759353995323181,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010330402292311192,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04327503591775894,"velocity_rad_s":-0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08445283770561218,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07750198245048523,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2739114463329315,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15453658998012543,"velocity_rad_s":0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2545449435710907,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-4.231249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07358314096927643,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787069401536,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809150,"imu":{"quaternion":[0.9931193590164185,0.0006861054571345448,0.019339894875884056,0.11549674719572067],"gyroscope":[-0.004261057358235121,0.0021305286791175604,0.013848436065018177],"accelerometer":[-0.47315409779548645,0.33937808871269226,9.773730278015137],"rpy":[0.0058344630524516106,0.038264498114585876,0.23166535794734955],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013976269401609898,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008249407634139061,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316336393356323,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3104059398174286,"velocity_rad_s":-0.00476716086268425,"acceleration_raw":0.0,"estimated_torque_nm":8.003363609313965,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010343670845031738,"velocity_rad_s":-0.01023904513567686,"acceleration_raw":0.0,"estimated_torque_nm":-0.7392856478691101,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027855143416672945,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519412875175476,"velocity_rad_s":0.008047590032219887,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710256725549698,"velocity_rad_s":-0.004692696500569582,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009481461718678474,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070233941078186035,"velocity_rad_s":-0.011586444452404976,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021962730213999748,"velocity_rad_s":5.0444210501154885e-05,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28331905603408813,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.975947380065918,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010330402292311192,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04332297295331955,"velocity_rad_s":-0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08439291268587112,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0776098445057869,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2737196981906891,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1545965075492859,"velocity_rad_s":0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2546767592430115,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-4.256249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07365504652261734,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787071368608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809151,"imu":{"quaternion":[0.9931185841560364,0.0006888938951306045,0.019337432458996773,0.11550413817167282],"gyroscope":[-0.0,0.0010652643395587802,0.013848436065018177],"accelerometer":[-0.5279214978218079,0.353743314743042,9.65611457824707],"rpy":[0.00583971943706274,0.03825891762971878,0.23168033361434937],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013967746868729591,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008236016146838665,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316165924072266,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103935718536377,"velocity_rad_s":0.002105951542034745,"acceleration_raw":0.0,"estimated_torque_nm":8.003363609313965,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010351001285016537,"velocity_rad_s":-0.0018414068035781384,"acceleration_raw":0.0,"estimated_torque_nm":-0.7392856478691101,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027855143416672945,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519412875175476,"velocity_rad_s":0.007977795787155628,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710256725549698,"velocity_rad_s":0.006413715425878763,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007023405749350786,"velocity_rad_s":-0.008684687316417694,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021953199058771133,"velocity_rad_s":-0.0042319209314882755,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2833310663700104,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759593605995178,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010342386551201344,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04339487850666046,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08433299511671066,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0776577815413475,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2736358046531677,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15470436215400696,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.254892498254776,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-4.199999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07372695207595825,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787074540320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809152,"imu":{"quaternion":[0.993117094039917,0.0006987579981796443,0.019332105293869972,0.11551717668771744],"gyroscope":[0.0063915858045220375,-0.0010652643395587802,0.010652642697095871],"accelerometer":[-0.44442370533943176,0.2810194194316864,9.694721221923828],"rpy":[0.0058585950173437595,0.038245975971221924,0.23170685768127441],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013967746868729591,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008222623728215694,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316251158714294,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31039363145828247,"velocity_rad_s":0.0031459347810596228,"acceleration_raw":0.0,"estimated_torque_nm":8.003363609313965,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01032201386988163,"velocity_rad_s":-0.009257301688194275,"acceleration_raw":0.0,"estimated_torque_nm":-0.7392856478691101,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603485107421875,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519412875175476,"velocity_rad_s":0.007931266911327839,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710256725549698,"velocity_rad_s":0.013817988336086273,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009374327026307583,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007023382466286421,"velocity_rad_s":-0.007724296767264605,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021972261369228363,"velocity_rad_s":3.3629476092755795e-05,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2833550274372101,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004458131734281778,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759713411331177,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010342386551201344,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04344281554222107,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0842730700969696,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07769373059272766,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27355191111564636,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15477627515792847,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2549883723258972,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-4.243750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07388275116682053,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.8374999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787075182528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809153,"imu":{"quaternion":[0.9931164979934692,0.0007026313687674701,0.019328271970152855,0.11552292108535767],"gyroscope":[0.0021305286791175604,-0.0021305286791175604,0.010652642697095871],"accelerometer":[-0.4695627987384796,0.2091933786869049,9.739612579345703],"rpy":[0.005865627899765968,0.038237426429986954,0.23171855509281158],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013967746868729591,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316165924072266,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103853464126587,"velocity_rad_s":0.004204479046165943,"acceleration_raw":0.0,"estimated_torque_nm":7.912120342254639,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010336563922464848,"velocity_rad_s":-0.007394351996481419,"acceleration_raw":0.0,"estimated_torque_nm":-0.6874405741691589,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028256899677217007,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851983606815338,"velocity_rad_s":0.009529152885079384,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027175189461559057,"velocity_rad_s":0.01473051868379116,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00932075921446085,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070233941078186035,"velocity_rad_s":-0.0019237218657508492,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021962730213999748,"velocity_rad_s":-0.006091241259127855,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2833789885044098,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759593605995178,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010342386551201344,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0436105951666832,"velocity_rad_s":-0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08418918401002884,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07772968709468842,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2734440565109253,"velocity_rad_s":-0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15483619272708893,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2550722360610962,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.243750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07393068820238113,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787078302304,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809154,"imu":{"quaternion":[0.9931164979934692,0.0007026313687674701,0.019328271970152855,0.11552292108535767],"gyroscope":[0.0021305286791175604,-0.0021305286791175604,0.010652642697095871],"accelerometer":[-0.4695627987384796,0.2091933786869049,9.739612579345703],"rpy":[0.005865627899765968,0.038237426429986954,0.23171855509281158],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01395922526717186,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008195839822292328,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316165924072266,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103853166103363,"velocity_rad_s":0.0031830568332225084,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010351057164371014,"velocity_rad_s":0.009300388395786285,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013976269401609898,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002839081920683384,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520652651786804,"velocity_rad_s":0.011713950894773006,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002688672626391053,"velocity_rad_s":0.0073089031502604485,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009307367727160454,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070233941078186035,"velocity_rad_s":5.881713150301948e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021962730213999748,"velocity_rad_s":-0.004879719112068415,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2834029495716095,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759833216667175,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010342386551201344,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04367051646113396,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08415322750806808,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07780159264802933,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2733122408390045,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1548961102962494,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2551681101322174,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-4.256249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0740145742893219,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787078939040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809155,"imu":{"quaternion":[0.993116021156311,0.000707624014467001,0.019327832385897636,0.11552814394235611],"gyroscope":[0.0053263213485479355,0.004261057358235121,0.009587379172444344],"accelerometer":[-0.4695627987384796,0.2091933786869049,9.739612579345703],"rpy":[0.005875648930668831,0.0382353775203228,0.23172926902770996],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01395922526717186,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316080689430237,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103771209716797,"velocity_rad_s":0.005792295094579458,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010336619801819324,"velocity_rad_s":-0.0045999265275895596,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002852473873645067,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603485107421875,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519412875175476,"velocity_rad_s":0.011620893143117428,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710256725549698,"velocity_rad_s":0.022117452695965767,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070233941078186035,"velocity_rad_s":-0.004824009258300066,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021962730213999748,"velocity_rad_s":-0.0030288060661405325,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28343892097473145,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760192632675171,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010342386551201344,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.043718453496694565,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08409330993890762,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07783754169940948,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27320438623428345,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15502794086933136,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25535985827445984,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.256249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07409846782684326,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.824999988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787082074016,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809156,"imu":{"quaternion":[0.9931137561798096,0.0007189980242401361,0.019330056384205818,0.11554589122533798],"gyroscope":[0.008522114716470242,0.0074568502604961395,0.01810949295759201],"accelerometer":[-0.3672106862068176,0.2702455222606659,9.764751434326172],"rpy":[0.005899457726627588,0.03823705017566681,0.23176544904708862],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01395922526717186,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008182448334991932,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315739750862122,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31038951873779297,"velocity_rad_s":-0.0037011923268437386,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010314795188605785,"velocity_rad_s":-0.004664556123316288,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002865865593776107,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851983606815338,"velocity_rad_s":0.005299143493175507,"acceleration_raw":0.0,"estimated_torque_nm":5.032093048095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027175189461559057,"velocity_rad_s":0.0073609245009720325,"acceleration_raw":0.0,"estimated_torque_nm":1.274672508239746,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009240408428013325,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000758778303862,"velocity_rad_s":-0.010623114183545113,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02196759358048439,"velocity_rad_s":0.0018761352403089404,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2834269404411316,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760192632675171,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010354370810091496,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04379035905003548,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08404537290334702,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07786151021718979,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27313247323036194,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15509983897209167,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2554677426815033,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-4.243750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07423029094934464,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787082710336,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809157,"imu":{"quaternion":[0.9931137561798096,0.0007189980242401361,0.019330056384205818,0.11554589122533798],"gyroscope":[0.008522114716470242,0.0074568502604961395,0.01810949295759201],"accelerometer":[-0.3672106862068176,0.2702455222606659,9.764751434326172],"rpy":[0.005899457726627588,0.03823705017566681,0.23176544904708862],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013950702734291553,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008182448334991932,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315569281578064,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103812634944916,"velocity_rad_s":-0.002117088297381997,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010329345241189003,"velocity_rad_s":-0.003725900314748287,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557301461696625,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013976269401609898,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00287925754673779,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603485107421875,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519412875175476,"velocity_rad_s":0.004747127648442984,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710256725549698,"velocity_rad_s":0.010141861625015736,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000747136771679,"velocity_rad_s":-0.0057976339012384415,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977124735713005,"velocity_rad_s":0.0036850112956017256,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2834988236427307,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760312438011169,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010342386551201344,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.043910201638936996,"velocity_rad_s":-0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08391354233026505,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07789746671915054,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27306056022644043,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15515977144241333,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2555995583534241,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-4.243750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0742902159690857,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787085288128,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809158,"imu":{"quaternion":[0.9931126236915588,0.0007237230311147869,0.019328288733959198,0.11555637419223785],"gyroscope":[0.004261057358235121,0.0021305286791175604,0.020240021869540215],"accelerometer":[-0.395043283700943,0.27473464608192444,9.665093421936035],"rpy":[0.0059088426642119884,0.038232386112213135,0.23178672790527344],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441570997238159,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013942181132733822,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00814227294176817,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315398812294006,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31038951873779297,"velocity_rad_s":-0.007927943952381611,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010314795188605785,"velocity_rad_s":-0.00840481836348772,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029060414526611567,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034936308860779,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519827127456665,"velocity_rad_s":0.0005287511157803237,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027030620258301497,"velocity_rad_s":0.000921199272852391,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006993198301643133,"velocity_rad_s":-0.005793222226202488,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021981922909617424,"velocity_rad_s":2.5222105250577442e-05,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28351080417633057,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760432243347168,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010354370810091496,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04398210719227791,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08384163677692413,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07794540375471115,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2728928029537201,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15520770847797394,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2556954324245453,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-4.212500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07438608258962631,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787085925280,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809159,"imu":{"quaternion":[0.9931118488311768,0.0007279496639966965,0.019325368106365204,0.11556317657232285],"gyroscope":[0.0031957929022610188,-0.0,0.012783171609044075],"accelerometer":[-0.37978023290634155,0.28640636801719666,9.657910346984863],"rpy":[0.005916829686611891,0.03822556510567665,0.23180052638053894],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013950702734291553,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008155664429068565,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315228343009949,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103771507740021,"velocity_rad_s":-0.00422675209119916,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010322107933461666,"velocity_rad_s":-0.0037402622401714325,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029060414526611567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603485107421875,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851940393447876,"velocity_rad_s":0.0015978856245055795,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002695799572393298,"velocity_rad_s":0.00091252924175933,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006993198301643133,"velocity_rad_s":4.411284862726461e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021981922909617424,"velocity_rad_s":-0.003659789217635989,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28351080417633057,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760312438011169,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010354370810091496,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.044030044227838516,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08376973122358322,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07798135280609131,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27280890941619873,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.155315563082695,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2557673454284668,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-4.268750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07445798814296722,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.824999988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787089355392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809160,"imu":{"quaternion":[0.9931114315986633,0.0007318831630982459,0.0193245280534029,0.1155678853392601],"gyroscope":[0.0031957929022610188,0.004261057358235121,0.008522114716470242],"accelerometer":[-0.37978023290634155,0.28640636801719666,9.657910346984863],"rpy":[0.005924633704125881,0.038222961127758026,0.23181018233299255],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013933658599853516,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008128880523145199,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315313577651978,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103771507740021,"velocity_rad_s":-0.0021356495562940836,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010322107933461666,"velocity_rad_s":-0.013004746288061142,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013950702734291553,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029194331727921963,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520241379737854,"velocity_rad_s":0.0010342375608161092,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0026958673261106014,"velocity_rad_s":0.0055445353500545025,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00906631350517273,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985660642385483,"velocity_rad_s":-0.025108376517891884,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977189928293228,"velocity_rad_s":0.003769085044041276,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28353479504585266,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760552048683167,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010354370810091496,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.044089965522289276,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08372179418802261,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07801730930805206,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2727489769458771,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15533952414989471,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2559710741043091,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-4.268750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0746137872338295,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.824999988079071,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787089987392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809161,"imu":{"quaternion":[0.993110716342926,0.0007352113607339561,0.019325120374560356,0.11557312309741974],"gyroscope":[0.0021305286791175604,0.0074568502604961395,0.009587379172444344],"accelerometer":[-0.3321954905986786,0.36092591285705566,9.846453666687012],"rpy":[0.005931589286774397,0.03822333365678787,0.23182085156440735],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013942181132733822,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008115489035844803,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315228343009949,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31036892533302307,"velocity_rad_s":0.0036640705075114965,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010307670570909977,"velocity_rad_s":-0.013893134891986847,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029194331727921963,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603485107421875,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520241379737854,"velocity_rad_s":1.163232809631154e-05,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0026958673261106014,"velocity_rad_s":-0.0018510684603825212,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00906631350517273,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000758778303862,"velocity_rad_s":-0.012560069561004639,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02196759358048439,"velocity_rad_s":0.006764261517673731,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2835827171802521,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760791659355164,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010366355068981647,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04418583959341049,"velocity_rad_s":-0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-8.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08363790810108185,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07804127782583237,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2726890742778778,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15536350011825562,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2560429871082306,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07469767332077026,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787091587360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809162,"imu":{"quaternion":[0.9931098222732544,0.0007360603776760399,0.019324947148561478,0.11558056622743607],"gyroscope":[-0.0031957929022610188,0.0063915858045220375,0.013848436065018177],"accelerometer":[-0.4785410761833191,0.333991140127182,9.72165584564209],"rpy":[0.005933523178100586,0.038222745060920715,0.23183585703372955],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013933658599853516,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008115489035844803,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631514310836792,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31036892533302307,"velocity_rad_s":0.0004995742347091436,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010307670570909977,"velocity_rad_s":-0.013914677314460278,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013976269401609898,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002946217078715563,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851981818675995,"velocity_rad_s":0.004840186331421137,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00268860487267375,"velocity_rad_s":-0.004666686523705721,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007008307613432407,"velocity_rad_s":-0.0144793801009655,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02196279540657997,"velocity_rad_s":-0.0029867691919207573,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28359469771385193,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760552048683167,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010342386551201344,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04422179237008095,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08355402201414108,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07807722687721252,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27262914180755615,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15539944171905518,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2561388313770294,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.324999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07476957887411118,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787093471264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809163,"imu":{"quaternion":[0.9931086897850037,0.0007371598621830344,0.019323939457535744,0.1155906543135643],"gyroscope":[-0.0031957929022610188,0.004261057358235121,0.019174758344888687],"accelerometer":[-0.6275801062583923,0.35823243856430054,9.559149742126465],"rpy":[0.00593586266040802,0.03822043165564537,0.23185621201992035],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013942181132733822,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008102096617221832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315057873725891,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31037306785583496,"velocity_rad_s":-0.0016175142955034971,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010300396010279655,"velocity_rad_s":-0.017640577629208565,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002946217078715563,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519827127456665,"velocity_rad_s":-0.0010575022315606475,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027030620258301497,"velocity_rad_s":-0.001842398545704782,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00898596178740263,"velocity_rad_s":0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007008295971900225,"velocity_rad_s":-0.01834299974143505,"acceleration_raw":0.0,"estimated_torque_nm":-1.5579121112823486,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021972326561808586,"velocity_rad_s":-0.0017500249668955803,"acceleration_raw":0.0,"estimated_torque_nm":-4.324306488037109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.283618688583374,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9761151671409607,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010354370810091496,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04428171366453171,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08349409699440002,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07808921486139297,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2724733352661133,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15544737875461578,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2562227249145508,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.324999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07485347241163254,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787095344352,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809164,"imu":{"quaternion":[0.9931074976921082,0.0007389269885607064,0.019321586936712265,0.11560124158859253],"gyroscope":[-0.0021305286791175604,0.0010652643395587802,0.020240021869540215],"accelerometer":[-0.6221931576728821,0.25408464670181274,9.524134635925293],"rpy":[0.0059392377734184265,0.038215287029743195,0.23187758028507233],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441570997238159,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013933658599853516,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008088705129921436,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314972639083862,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103730380535126,"velocity_rad_s":-0.0058442666195333,"acceleration_raw":0.0,"estimated_torque_nm":7.82158088684082,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010314889252185822,"velocity_rad_s":-0.021380839869379997,"acceleration_raw":0.0,"estimated_torque_nm":-0.7389219999313354,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013976269401609898,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002946217078715563,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034936308860779,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851899266242981,"velocity_rad_s":0.0026670200750231743,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027029942721128464,"velocity_rad_s":0.0009038591524586082,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008945786394178867,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000758778303862,"velocity_rad_s":-0.013518989086151123,"acceleration_raw":0.0,"estimated_torque_nm":-1.5579121112823486,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02196759358048439,"velocity_rad_s":0.0012787814484909177,"acceleration_raw":0.0,"estimated_torque_nm":-4.324306488037109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2836306691169739,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9761151671409607,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010354370810091496,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04434163495898247,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08345814794301987,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07812516391277313,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27240145206451416,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15545937418937683,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25637853145599365,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07500926405191422,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.8812500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787097560576,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809183,"imu":{"quaternion":[0.9930894374847412,0.0007962067029438913,0.01931740529835224,0.11575662344694138],"gyroscope":[0.0074568502604961395,0.0063915858045220375,0.013848436065018177],"accelerometer":[-0.7003039717674255,0.2388216257095337,9.676764488220215],"rpy":[0.006058099213987589,0.03819277510046959,0.23219269514083862],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013874003663659096,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007941394113004208,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314716935157776,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31034016609191895,"velocity_rad_s":-0.003175632329657674,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010271614417433739,"velocity_rad_s":-0.005588850472122431,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35569605231285095,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013925136998295784,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031470954418182373,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035106182098389,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521928191185,"velocity_rad_s":0.0026437556371092796,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724934834986925,"velocity_rad_s":0.004605996422469616,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008302975445985794,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000747136771679,"velocity_rad_s":-0.0077316490933299065,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977124735713005,"velocity_rad_s":0.006133278366178274,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2839302718639374,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762349724769592,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0103783393278718,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04512060806155205,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08230765908956528,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07847270369529724,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2711191177368164,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15694540739059448,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25803235173225403,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-4.324999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0764593556523323,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787099145984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809184,"imu":{"quaternion":[0.9930886626243591,0.0008027735748328269,0.019318394362926483,0.1157633438706398],"gyroscope":[0.008522114716470242,0.004261057358235121,0.012783171609044075],"accelerometer":[-0.7003039717674255,0.2388216257095337,9.676764488220215],"rpy":[0.006071639247238636,0.03819317743182182,0.23220650851726532],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007928002625703812,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314802169799805,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31033602356910706,"velocity_rad_s":0.0005144232418388128,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010278889909386635,"velocity_rad_s":-0.006491601001471281,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35568752884864807,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013908091932535172,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031604873947799206,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035106182098389,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521499037742615,"velocity_rad_s":-0.0020684751216322184,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027032154612243176,"velocity_rad_s":-0.011089070700109005,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008262800052762032,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985671818256378,"velocity_rad_s":-0.0193195641040802,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021967660635709763,"velocity_rad_s":0.007403652183711529,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28394225239753723,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762349724769592,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0103783393278718,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04514457657933235,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08228369057178497,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07848469167947769,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2710951566696167,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1569933444261551,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25808030366897583,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07654324918985367,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787101277216,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809185,"imu":{"quaternion":[0.9930880069732666,0.0008055590442381799,0.019317997619509697,0.11576858907938004],"gyroscope":[0.0010652643395587802,0.0021305286791175604,0.009587379172444344],"accelerometer":[-0.6823474764823914,0.15173253417015076,9.718064308166504],"rpy":[0.006077285390347242,0.03819170966744423,0.23221717774868011],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314802169799805,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31034016609191895,"velocity_rad_s":-0.0021356495562940836,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010271614417433739,"velocity_rad_s":-0.013004746288061142,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031604873947799206,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":-0.0010691345669329166,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":8.67001017468283e-06,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008249407634139061,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006993198301643133,"velocity_rad_s":-0.013524871319532394,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021981922909617424,"velocity_rad_s":0.006158499978482723,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2839302718639374,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762469530105591,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045168545097112656,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08218781650066376,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.078508660197258,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2710951566696167,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15707723796367645,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2581641674041748,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07657919824123383,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787103123936,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809186,"imu":{"quaternion":[0.993087649345398,0.000805728486739099,0.0193156860768795,0.11577178537845612],"gyroscope":[-0.004261057358235121,-0.0010652643395587802,0.0053263213485479355],"accelerometer":[-0.5719149112701416,0.18405425548553467,9.735123634338379],"rpy":[0.006077209021896124,0.03818705677986145,0.23222358524799347],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007941394113004208,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314716935157776,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31032776832580566,"velocity_rad_s":0.0005069986800663173,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01027896348387003,"velocity_rad_s":-0.010203138925135136,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003173879347741604,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035276651382446,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":0.002713549416512251,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.006500414572656155,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008222623728215694,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000747136771679,"velocity_rad_s":-0.009656840935349464,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977124735713005,"velocity_rad_s":0.001261966535821557,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28394225239753723,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762469530105591,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0821278989315033,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07852064073085785,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2710472345352173,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15714915096759796,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2582121193408966,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07661515474319458,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787104971968,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809187,"imu":{"quaternion":[0.9930875301361084,0.0008046835428103805,0.019314248114824295,0.11577396094799042],"gyroscope":[-0.0063915858045220375,0.0010652643395587802,0.0031957929022610188],"accelerometer":[-0.512658417224884,0.25677812099456787,9.735123634338379],"rpy":[0.00607488164678216,0.03818443417549133,0.23222792148590088],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013874003663659096,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314802169799805,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-6.591796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31034013628959656,"velocity_rad_s":-0.005292721092700958,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010286126285791397,"velocity_rad_s":-0.009314751252532005,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35569605231285095,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013916614465415478,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035276651382446,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521913290023804,"velocity_rad_s":-0.005792997777462006,"acceleration_raw":0.0,"estimated_torque_nm":4.673377513885498,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002696002833545208,"velocity_rad_s":-0.013835328631103039,"acceleration_raw":0.0,"estimated_torque_nm":1.2724183797836304,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008222623728215694,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007008284796029329,"velocity_rad_s":-0.0029046989511698484,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0219818577170372,"velocity_rad_s":0.006722224876284599,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2839542329311371,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762469530105591,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08207996189594269,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07852064073085785,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27101126313209534,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15729296207427979,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25835591554641724,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.256249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07665110379457474,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.8374999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787106823776,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809188,"imu":{"quaternion":[0.9930874705314636,0.0008023747359402478,0.019314231351017952,0.11577405780553818],"gyroscope":[-0.008522114716470242,0.004261057358235121,-0.0010652643395587802],"accelerometer":[-0.5324106216430664,0.3034650683403015,9.854534149169922],"rpy":[0.006070292554795742,0.03818493336439133,0.23222801089286804],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441997170448303,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013874003663659096,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007887826301157475,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314802169799805,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-6.591796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103236258029938,"velocity_rad_s":-0.0021356495562940836,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010286238975822926,"velocity_rad_s":-0.013004746288061142,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35568752884864807,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013908091932535172,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035276651382446,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521928191185,"velocity_rad_s":-0.002115004463121295,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724934834986925,"velocity_rad_s":-0.003684797091409564,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008169055916368961,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006993221119046211,"velocity_rad_s":-0.013518989086151123,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021962862461805344,"velocity_rad_s":0.0012787814484909177,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2839781939983368,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762589335441589,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08204400539398193,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07852064073085785,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27101126313209534,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15735287964344025,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2584158480167389,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07669904083013535,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787108683104,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809189,"imu":{"quaternion":[0.9930874705314636,0.0007991687161847949,0.019312996417284012,0.11577418446540833],"gyroscope":[-0.010652642697095871,0.0021305286791175604,-0.0010652643395587802],"accelerometer":[-0.5324106216430664,0.3034650683403015,9.854534149169922],"rpy":[0.006063638720661402,0.038183219730854034,0.2322281301021576],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007901218719780445,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314631700515747,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103277385234833,"velocity_rad_s":-0.0026574970688670874,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01029345765709877,"velocity_rad_s":-0.010224682278931141,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35569605231285095,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035276651382446,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.005287511274218559,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.009211992844939232,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00814227294176817,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0069932094775140285,"velocity_rad_s":-0.008693509735167027,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02197239175438881,"velocity_rad_s":0.0030876577366143465,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28396621346473694,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004482100252062082,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762469530105591,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08196011930704117,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07854460924863815,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2709633409976959,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15742477774620056,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25847578048706055,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0767589658498764,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787110525856,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809190,"imu":{"quaternion":[0.9930873513221741,0.0007972561870701611,0.01931028813123703,0.11577585339546204],"gyroscope":[-0.008522114716470242,-0.0010652643395587802,0.0021305286791175604],"accelerometer":[-0.5764040350914001,0.2801215946674347,9.922768592834473],"rpy":[0.006059272214770317,0.03817827254533768,0.23223136365413666],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007901218719780445,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314887404441833,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31033191084861755,"velocity_rad_s":-0.0005626818747259676,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010271670296788216,"velocity_rad_s":-0.01763339713215828,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035276651382446,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":-0.0015629887348040938,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":-0.006465734913945198,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008102096617221832,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000747136771679,"velocity_rad_s":-0.0028958760667592287,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977124735713005,"velocity_rad_s":-0.0005973538500256836,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2839781939983368,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762709140777588,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08192416280508041,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07858056575059891,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2709153890609741,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15749669075012207,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25854766368865967,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07679491490125656,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787112118848,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809191,"imu":{"quaternion":[0.9930868744850159,0.0007984954863786697,0.019304677844047546,0.11578112840652466],"gyroscope":[-0.0031957929022610188,-0.0074568502604961395,0.009587379172444344],"accelerometer":[-0.5351040959358215,0.29807811975479126,9.842862129211426],"rpy":[0.006060635671019554,0.03816680982708931,0.23224198818206787],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314887404441833,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103277385234833,"velocity_rad_s":0.0010436952579766512,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01029345765709877,"velocity_rad_s":-0.005560126155614853,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035276651382446,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521499037742615,"velocity_rad_s":-0.003689625533297658,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027032154612243176,"velocity_rad_s":-0.008299463428556919,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008115489035844803,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000747136771679,"velocity_rad_s":0.0038709710352122784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977124735713005,"velocity_rad_s":-0.007336393464356661,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28396621346473694,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004458131734281778,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762829542160034,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0818762257695198,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07858056575059891,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27087944746017456,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.157616525888443,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2586075961589813,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07684285193681717,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787113977920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809192,"imu":{"quaternion":[0.9930863976478577,0.0008023633854463696,0.019299395382404327,0.11578580737113953],"gyroscope":[0.0021305286791175604,-0.0074568502604961395,0.008522114716470242],"accelerometer":[-0.5862801671028137,0.2783259451389313,9.752182006835938],"rpy":[0.006067277397960424,0.03815538436174393,0.23225145041942596],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314972639083862,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31033191084861755,"velocity_rad_s":-0.0031830568332225084,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010271670296788216,"velocity_rad_s":-0.009300388395786285,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035361886024475,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521499037742615,"velocity_rad_s":0.0027019171975553036,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027032154612243176,"velocity_rad_s":-0.004649346228688955,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008035137318074703,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0069932094775140285,"velocity_rad_s":-0.003857737174257636,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02197239175438881,"velocity_rad_s":-0.003642974654212594,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28399017453193665,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762709140777588,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0103783393278718,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0818282887339592,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07859254628419876,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2708914279937744,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1576644629240036,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2587154507637024,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07690277695655823,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787115831616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809193,"imu":{"quaternion":[0.9930859208106995,0.000805963238235563,0.019295815378427505,0.11579049378633499],"gyroscope":[0.0021305286791175604,-0.004261057358235121,0.008522114716470242],"accelerometer":[-0.6760627031326294,0.20560206472873688,9.67227554321289],"rpy":[0.006073781754821539,0.03814741224050522,0.23226097226142883],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441997170448303,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007901218719780445,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314972639083862,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-6.591796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31031954288482666,"velocity_rad_s":0.003138510510325432,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010279019363224506,"velocity_rad_s":-0.012968840077519417,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035361886024475,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852150797843933,"velocity_rad_s":0.004875083453953266,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027176726143807173,"velocity_rad_s":-0.010219891555607319,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008035137318074703,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00697811134159565,"velocity_rad_s":-0.010624583810567856,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021981988102197647,"velocity_rad_s":0.003096065018326044,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28401416540145874,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762829542160034,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08174440264701843,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07859254628419876,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27085548639297485,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1577363759279251,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25877538323402405,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787117704032,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809194,"imu":{"quaternion":[0.9930855631828308,0.0008088041213341057,0.01929333806037903,0.11579415202140808],"gyroscope":[0.0010652643395587802,-0.0021305286791175604,0.0063915858045220375],"accelerometer":[-0.6760627031326294,0.20560206472873688,9.67227554321289],"rpy":[0.0060789925046265125,0.03814180567860603,0.23226840794086456],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007901218719780445,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314972639083862,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-6.591796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31032779812812805,"velocity_rad_s":0.001569255255162716,"acceleration_raw":0.0,"estimated_torque_nm":7.730337619781494,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010264451615512371,"velocity_rad_s":-0.006484420038759708,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870769262313843,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35569605231285095,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035361886024475,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":0.005403834395110607,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.00929869245737791,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008008353412151337,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00697811134159565,"velocity_rad_s":-0.014486732892692089,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021981988102197647,"velocity_rad_s":0.0031128795817494392,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2840021550655365,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762949347496033,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08172043412923813,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07861651480197906,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27083149552345276,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15777233242988586,"velocity_rad_s":0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2588352859020233,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07697467505931854,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787119569344,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809195,"imu":{"quaternion":[0.9930855631828308,0.0008088041213341057,0.01929333806037903,0.11579415202140808],"gyroscope":[0.0010652643395587802,-0.0021305286791175604,0.0063915858045220375],"accelerometer":[-0.6760627031326294,0.20560206472873688,9.67227554321289],"rpy":[0.0060789925046265125,0.03814180567860603,0.23226840794086456],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007887826301157475,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314972639083862,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31033191084861755,"velocity_rad_s":0.0005292720743454993,"acceleration_raw":0.0,"estimated_torque_nm":7.54855489730835,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010271670296788216,"velocity_rad_s":0.0009314750786870718,"acceleration_raw":0.0,"estimated_torque_nm":-0.6867132782936096,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35569605231285095,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035532355308533,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":0.0032539330422878265,"acceleration_raw":0.0,"estimated_torque_nm":4.673377513885498,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.007430284284055233,"acceleration_raw":0.0,"estimated_torque_nm":1.2724183797836304,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00799496192485094,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985660642385483,"velocity_rad_s":-0.01062899548560381,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977189928293228,"velocity_rad_s":0.006755854468792677,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2840021550655365,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763069152832031,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04525243490934372,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08168447762727737,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07861651480197906,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27080753445625305,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1578921675682068,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2588832378387451,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07699864357709885,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787124719072,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809195,"imu":{"quaternion":[0.993084728717804,0.0008106959285214543,0.01929255574941635,0.11580153554677963],"gyroscope":[-0.0031957929022610188,0.0031957929022610188,0.0063915858045220375],"accelerometer":[-0.44262802600860596,0.21278467774391174,9.728838920593262],"rpy":[0.00608285516500473,0.03813977167010307,0.23228336870670319],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441997170448303,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013874003663659096,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314716935157776,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31032365560531616,"velocity_rad_s":0.0026277992874383926,"acceleration_raw":0.0,"estimated_torque_nm":7.54855489730835,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010271744802594185,"velocity_rad_s":-0.004621469881385565,"acceleration_raw":0.0,"estimated_torque_nm":-0.6867132782936096,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035532355308533,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.0020801075734198093,"acceleration_raw":0.0,"estimated_torque_nm":4.583279132843018,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.009238002821803093,"acceleration_raw":0.0,"estimated_torque_nm":1.2200583219528198,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007954785600304604,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985660642385483,"velocity_rad_s":-0.0057976339012384415,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977189928293228,"velocity_rad_s":0.0036850112956017256,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28401416540145874,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762949347496033,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08164852857589722,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07861651480197906,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2707955539226532,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1579401046037674,"velocity_rad_s":0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2589910924434662,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0770585685968399,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787126831200,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809196,"imu":{"quaternion":[0.993084192276001,0.0008124580490402877,0.019293880090117455,0.11580628901720047],"gyroscope":[-0.0,0.0063915858045220375,0.008522114716470242],"accelerometer":[-0.39145198464393616,0.1966238170862198,9.882367134094238],"rpy":[0.0060868472792208195,0.03814196586608887,0.232293039560318],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314716935157776,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31032365560531616,"velocity_rad_s":-0.0010474075097590685,"acceleration_raw":0.0,"estimated_torque_nm":7.54855489730835,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010271744802594185,"velocity_rad_s":0.003704356960952282,"acceleration_raw":0.0,"estimated_torque_nm":-0.6867132782936096,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035447120666504,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.006345013156533241,"acceleration_raw":0.0,"estimated_torque_nm":4.583279132843018,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.011054391041398048,"acceleration_raw":0.0,"estimated_torque_nm":1.2200583219528198,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007914610207080841,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985660642385483,"velocity_rad_s":0.013518989086151123,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021977189928293228,"velocity_rad_s":-0.0012787814484909177,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28401416540145874,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21524867415428162,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763069152832031,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08156463503837585,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07862850278615952,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2707955539226532,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15802399814128876,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25905102491378784,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07710650563240051,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787128865600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809197,"imu":{"quaternion":[0.9930835962295532,0.0008152234950102866,0.019295137375593185,0.11581045389175415],"gyroscope":[0.0021305286791175604,0.0063915858045220375,0.0074568502604961395],"accelerometer":[-0.39145198464393616,0.1966238170862198,9.882367134094238],"rpy":[0.006092796567827463,0.03814379498362541,0.2323015332221985],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314716935157776,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31031954288482666,"velocity_rad_s":-0.0005069986800663173,"acceleration_raw":0.0,"estimated_torque_nm":7.54855489730835,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010279019363224506,"velocity_rad_s":0.010203138925135136,"acceleration_raw":0.0,"estimated_torque_nm":-0.6867132782936096,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035532355308533,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.010586654767394066,"acceleration_raw":0.0,"estimated_torque_nm":4.583279132843018,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.016572916880249977,"acceleration_raw":0.0,"estimated_torque_nm":1.2200583219528198,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007901218719780445,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006970574147999287,"velocity_rad_s":-0.008684687316417694,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0219772569835186,"velocity_rad_s":-0.0042319209314882755,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2840261459350586,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976318895816803,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0815286859869957,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07862850278615952,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2707715928554535,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15808391571044922,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2591109275817871,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-4.268750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07714245468378067,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787132800288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809198,"imu":{"quaternion":[0.9930835962295532,0.0008152234950102866,0.019295137375593185,0.11581045389175415],"gyroscope":[0.0021305286791175604,0.0063915858045220375,0.0074568502604961395],"accelerometer":[-0.39145198464393616,0.1966238170862198,9.882367134094238],"rpy":[0.006092796567827463,0.03814379498362541,0.2323015332221985],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314631700515747,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31032365560531616,"velocity_rad_s":-0.004219327587634325,"acceleration_raw":0.0,"estimated_torque_nm":7.54855489730835,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010271744802594185,"velocity_rad_s":-2.872433469747193e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.6867132782936096,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603570282459259,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":3.489698428893462e-05,"acceleration_raw":0.0,"estimated_torque_nm":4.583279132843018,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":-0.005553205497562885,"acceleration_raw":0.0,"estimated_torque_nm":1.2200583219528198,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007887826301157475,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00697811134159565,"velocity_rad_s":-0.0019310741918161511,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021981988102197647,"velocity_rad_s":8.407369023188949e-06,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28403812646865845,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976318895816803,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04526441916823387,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08149272948503494,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07865247130393982,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27073562145233154,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15825168788433075,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25914689898490906,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-4.256249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07716642320156097,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787133476800,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809199,"imu":{"quaternion":[0.9930830001831055,0.0008205295307561755,0.019293494522571564,0.11581562459468842],"gyroscope":[-0.0010652643395587802,0.0010652643395587802,0.0010652643395587802],"accelerometer":[-0.40132805705070496,0.23253683745861053,9.88506031036377],"rpy":[0.006103159859776497,0.03813926875591278,0.2323121279478073],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314631700515747,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31031131744384766,"velocity_rad_s":0.002105951542034745,"acceleration_raw":0.0,"estimated_torque_nm":7.54855489730835,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010264582000672817,"velocity_rad_s":-0.0018414068035781384,"acceleration_raw":0.0,"estimated_torque_nm":-0.6867132782936096,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035617589950562,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":5.8161644119536504e-05,"acceleration_raw":0.0,"estimated_torque_nm":4.583279132843018,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":-0.009255343116819859,"acceleration_raw":0.0,"estimated_torque_nm":1.2200583219528198,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007874434813857079,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006970562506467104,"velocity_rad_s":-0.008693509735167027,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021986786276102066,"velocity_rad_s":0.0030876577366143465,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2840261459350586,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763069152832031,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04525243490934372,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08148074895143509,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07866445183753967,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2707236409187317,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1583116203546524,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25927871465682983,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07722634822130203,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787135407424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809200,"imu":{"quaternion":[0.9930829405784607,0.000821885943878442,0.01928732730448246,0.11581718176603317],"gyroscope":[-0.0021305286791175604,-0.0074568502604961395,0.0021305286791175604],"accelerometer":[-0.4668693244457245,0.23433248698711395,9.766547203063965],"rpy":[0.0061044832691550255,0.038126688450574875,0.23231521248817444],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013874003663659096,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314546465873718,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31031960248947144,"velocity_rad_s":0.004730038810521364,"acceleration_raw":0.0,"estimated_torque_nm":7.54855489730835,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250014252960682,"velocity_rad_s":-0.008318645879626274,"acceleration_raw":0.0,"estimated_torque_nm":-0.6867132782936096,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013856959529221058,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003240838646888733,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035617589950562,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521928191185,"velocity_rad_s":6.979396857786924e-05,"acceleration_raw":0.0,"estimated_torque_nm":4.583279132843018,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724934834986925,"velocity_rad_s":-0.01110641099512577,"acceleration_raw":0.0,"estimated_torque_nm":1.2200583219528198,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007861042395234108,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006970550864934921,"velocity_rad_s":-0.006760965567082167,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02199631743133068,"velocity_rad_s":0.0018593204440549016,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2840501070022583,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976318895816803,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08145678043365479,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07868842035531998,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27071166038513184,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15839549899101257,"velocity_rad_s":0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2593386471271515,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787137340896,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809201,"imu":{"quaternion":[0.9930829405784607,0.000821885943878442,0.01928732730448246,0.11581718176603317],"gyroscope":[-0.0021305286791175604,-0.0074568502604961395,0.0021305286791175604],"accelerometer":[-0.4668693244457245,0.23433248698711395,9.766547203063965],"rpy":[0.0061044832691550255,0.038126688450574875,0.23231521248817444],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007887826301157475,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631446123123169,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31031131744384766,"velocity_rad_s":0.0036826313007622957,"acceleration_raw":0.0,"estimated_torque_nm":7.54855489730835,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010264582000672817,"velocity_rad_s":-0.004614288918673992,"acceleration_raw":0.0,"estimated_torque_nm":-0.6867132782936096,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35569605231285095,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603570282459259,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521928191185,"velocity_rad_s":0.0032423005905002356,"acceleration_raw":0.0,"estimated_torque_nm":4.583279132843018,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724934834986925,"velocity_rad_s":-0.005579215474426746,"acceleration_raw":0.0,"estimated_torque_nm":1.2200583219528198,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007834259420633316,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006978100165724754,"velocity_rad_s":-0.008692039176821709,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021991519257426262,"velocity_rad_s":0.0018677277257665992,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28406208753585815,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976318895816803,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08137288689613342,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07872437685728073,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27068769931793213,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15846741199493408,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.25939854979515076,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-4.231249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0772862657904625,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787138952608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809218,"imu":{"quaternion":[0.993085503578186,0.0008537639514543116,0.019246991723775864,0.11580213904380798],"gyroscope":[0.0053263213485479355,-0.0053263213485479355,-0.0021305286791175604],"accelerometer":[-0.43095630407333374,0.17238251864910126,9.675867080688477],"rpy":[0.006157899275422096,0.038039252161979675,0.2322855144739151],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029897928237915,"velocity_rad_s":0.005810856353491545,"acceleration_raw":0.0,"estimated_torque_nm":7.184286117553711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01025741919875145,"velocity_rad_s":0.004678918514400721,"acceleration_raw":0.0,"estimated_torque_nm":-0.5826594829559326,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013831393793225288,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":0.0004938541678711772,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":0.0064744045957922935,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007753907702863216,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985637359321117,"velocity_rad_s":-0.007721355650573969,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.021996252238750458,"velocity_rad_s":-0.0024062299635261297,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28426581621170044,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763907790184021,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08052200824022293,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27060380578041077,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15955796837806702,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26032134890556335,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07771769911050797,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787141414528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809219,"imu":{"quaternion":[0.993085503578186,0.0008537639514543116,0.019246991723775864,0.11580213904380798],"gyroscope":[0.0053263213485479355,-0.0053263213485479355,-0.0021305286791175604],"accelerometer":[-0.43095630407333374,0.17238251864910126,9.675867080688477],"rpy":[0.006157899275422096,0.038039252161979675,0.2322855144739151],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029900908470154,"velocity_rad_s":0.006328991614282131,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242925956845284,"velocity_rad_s":4.3086500227218494e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035276651382446,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007753907702863216,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006970550864934921,"velocity_rad_s":-0.021234463900327682,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02199631743133068,"velocity_rad_s":-0.006007167976349592,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21526065468788147,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763907790184021,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08049803972244263,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07908390462398529,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2706157863140106,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.159689798951149,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2603812515735626,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07771769911050797,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787143309056,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809219,"imu":{"quaternion":[0.9930858612060547,0.000859476684127003,0.01923595927655697,0.11580092459917068],"gyroscope":[0.0021305286791175604,-0.0053263213485479355,-0.0021305286791175604],"accelerometer":[-0.4569932520389557,0.26485857367515564,9.633668899536133],"rpy":[0.00616664532572031,0.03801601752638817,0.2322831153869629],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013908091932535172,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029900908470154,"velocity_rad_s":0.0010474075097590685,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242925956845284,"velocity_rad_s":-0.003704356960952282,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035276651382446,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":0.0032423005905002356,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.005579215474426746,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0077672996558249,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006993175018578768,"velocity_rad_s":-0.010623114183545113,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022000985220074654,"velocity_rad_s":0.0018761352403089404,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763907790184021,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08045010268688202,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0791078731417656,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2706157863140106,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15972575545310974,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26041722297668457,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07776563614606857,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787145238592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809220,"imu":{"quaternion":[0.993086040019989,0.0008618779829703271,0.019232744351029396,0.11579979211091995],"gyroscope":[0.0010652643395587802,-0.0021305286791175604,-0.0031957929022610188],"accelerometer":[-0.491110622882843,0.28550854325294495,9.66958236694336],"rpy":[0.006170628592371941,0.03800908103585243,0.2322808802127838],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34422528743743896,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103031516075134,"velocity_rad_s":0.0020985272713005543,"acceleration_raw":0.0,"estimated_torque_nm":7.184286117553711,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235650464892387,"velocity_rad_s":-0.00555294519290328,"acceleration_raw":0.0,"estimated_torque_nm":-0.5826594829559326,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013831393793225288,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":0.0032190359197556973,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.001877078553661704,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007780691608786583,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006993175018578768,"velocity_rad_s":-0.0009662723168730736,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022000985220074654,"velocity_rad_s":0.0006141685880720615,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763907790184021,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08037819713354111,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07911985367536545,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2706157863140106,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15977369248867035,"velocity_rad_s":0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2604411840438843,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07777762413024902,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787148110080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809221,"imu":{"quaternion":[0.993086040019989,0.0008618779829703271,0.019232744351029396,0.11579979211091995],"gyroscope":[0.0010652643395587802,-0.0021305286791175604,-0.0031957929022610188],"accelerometer":[-0.491110622882843,0.28550854325294495,9.66958236694336],"rpy":[0.006170628592371941,0.03800908103585243,0.2322808802127838],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34422528743743896,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029900908470154,"velocity_rad_s":-0.001062256284058094,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242925956845284,"velocity_rad_s":-0.003718719119206071,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013831393793225288,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522756695747375,"velocity_rad_s":-0.0010458698961883783,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710527740418911,"velocity_rad_s":-0.003693467006087303,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007794083096086979,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000712677836418,"velocity_rad_s":0.002894405508413911,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0220057163387537,"velocity_rad_s":0.0018172835698351264,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004482100252062082,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763787984848022,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0803542286157608,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07911985367536545,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27060380578041077,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1598096489906311,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.260465145111084,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07777762413024902,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787148745440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809222,"imu":{"quaternion":[0.9930863380432129,0.0008667526999488473,0.019230997189879417,0.1157970055937767],"gyroscope":[0.0063915858045220375,-0.0,-0.0063915858045220375],"accelerometer":[-0.5952584147453308,0.23163901269435883,9.53849983215332],"rpy":[0.0061798058450222015,0.038004495203495026,0.23227539658546448],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01389957033097744,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007847650907933712,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103031516075134,"velocity_rad_s":-0.002646360546350479,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235650464892387,"velocity_rad_s":-0.004657375626266003,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013831393793225288,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035106182098389,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.0005403834511525929,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":0.0009298692457377911,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007794083096086979,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007023336831480265,"velocity_rad_s":0.005788811016827822,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022010384127497673,"velocity_rad_s":0.003634567139670253,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976402759552002,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08031827956438065,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07914382219314575,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27060380578041077,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15988154709339142,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26050111651420593,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07778960466384888,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.6937500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787151844768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809223,"imu":{"quaternion":[0.9930873513221741,0.0008734117145650089,0.019225794821977615,0.11578996479511261],"gyroscope":[0.0010652643395587802,-0.0031957929022610188,-0.0063915858045220375],"accelerometer":[-0.585382342338562,0.17956513166427612,9.516054153442383],"rpy":[0.00619156239554286,0.03799265995621681,0.23226140439510345],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34423381090164185,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314290761947632,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103031516075134,"velocity_rad_s":-0.0031867693178355694,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235650464892387,"velocity_rad_s":-0.011156157590448856,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013831393793225288,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035106182098389,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":0.0005054863868281245,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":0.004623336251825094,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007807475049048662,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070007010363042355,"velocity_rad_s":-7.352141892624786e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022015247493982315,"velocity_rad_s":0.0060996487736701965,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28431376814842224,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976402759552002,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08029431104660034,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07914382219314575,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27057984471321106,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15992948412895203,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26052507758140564,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07783754169940948,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787153840768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809224,"imu":{"quaternion":[0.9930877089500427,0.0008735018200241029,0.01922319270670414,0.11578676849603653],"gyroscope":[-0.0031957929022610188,-0.0010652643395587802,-0.0074568502604961395],"accelerometer":[-0.6078279614448547,0.21368250250816345,9.618406295776367],"rpy":[0.006191016174852848,0.03798748925328255,0.23225490748882294],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103072941303253,"velocity_rad_s":-0.001073392922990024,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228358209133148,"velocity_rad_s":-0.00928602647036314,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035106182098389,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":-0.001644414965994656,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":0.006491744890809059,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007820867002010345,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007023325189948082,"velocity_rad_s":-1.4704283785249572e-05,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022019915282726288,"velocity_rad_s":0.012199297547340393,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764147400856018,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.14374999701976776,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08022240549325943,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0791558101773262,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705918252468109,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15997742116451263,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26054903864860535,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07784952968358994,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.6937500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787156418944,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809225,"imu":{"quaternion":[0.9930877089500427,0.0008735018200241029,0.01922319270670414,0.11578676849603653],"gyroscope":[-0.0031957929022610188,-0.0010652643395587802,-0.0074568502604961395],"accelerometer":[-0.6078279614448547,0.21368250250816345,9.618406295776367],"rpy":[0.006191016174852848,0.03798748925328255,0.23225490748882294],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103031516075134,"velocity_rad_s":-0.003708616830408573,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235650464892387,"velocity_rad_s":-0.00837609451264143,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035361886024475,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.0005636480636894703,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":0.004632006399333477,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007861042395234108,"velocity_rad_s":-0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007023325189948082,"velocity_rad_s":0.0009618609328754246,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022019915282726288,"velocity_rad_s":0.0030456206295639277,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976402759552002,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005692507140338421,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08021041750907898,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07919175922870636,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705918252468109,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16002535820007324,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26054903864860535,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07784952968358994,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787157053952,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809226,"imu":{"quaternion":[0.9930881261825562,0.0008744763326831162,0.019222306087613106,0.11578359454870224],"gyroscope":[-0.0010652643395587802,0.0021305286791175604,-0.0074568502604961395],"accelerometer":[-0.5575497150421143,0.23523031175136566,9.765649795532227],"rpy":[0.006192625034600496,0.03798552230000496,0.23224854469299316],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01389957033097744,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007847650907933712,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31030309200286865,"velocity_rad_s":-0.0036826313007622957,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010264637880027294,"velocity_rad_s":0.004614288918673992,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013848437927663326,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521928191185,"velocity_rad_s":0.0015513562830165029,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724934834986925,"velocity_rad_s":0.00831680279225111,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007834259420633316,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007030862849205732,"velocity_rad_s":0.0009589202236384153,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022024646401405334,"velocity_rad_s":0.005485480185598135,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843257486820221,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764267206192017,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08015049993991852,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07921572774648666,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27057984471321106,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16009727120399475,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.260608971118927,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07786151021718979,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787159729184,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809227,"imu":{"quaternion":[0.9930891394615173,0.0008757004397921264,0.01921796053647995,0.11577507108449936],"gyroscope":[-0.004261057358235121,-0.0021305286791175604,-0.008522114716470242],"accelerometer":[-0.6051344871520996,0.2603694200515747,9.723451614379883],"rpy":[0.0061937239952385426,0.03797665610909462,0.23223134875297546],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007847650907933712,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029900908470154,"velocity_rad_s":-0.0010696809040382504,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242925956845284,"velocity_rad_s":-0.007430257275700569,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.0005403834511525929,"acceleration_raw":0.0,"estimated_torque_nm":4.494019985198975,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":0.0009298692457377911,"acceleration_raw":0.0,"estimated_torque_nm":1.2712912559509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007861042395234108,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070459493435919285,"velocity_rad_s":0.011583504267036915,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02202458120882511,"velocity_rad_s":0.0023894154001027346,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843497097492218,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764506816864014,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08012653142213821,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07922771573066711,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705678641796112,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1601571887731552,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2606329321861267,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07787349820137024,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787161332192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809228,"imu":{"quaternion":[0.9930891394615173,0.0008757004397921264,0.01921796053647995,0.11577507108449936],"gyroscope":[-0.004261057358235121,-0.0021305286791175604,-0.008522114716470242],"accelerometer":[-0.6051344871520996,0.2603694200515747,9.723451614379883],"rpy":[0.0061937239952385426,0.03797665610909462,0.23223134875297546],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01389957033097744,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31030312180519104,"velocity_rad_s":-0.002117088297381997,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250144638121128,"velocity_rad_s":-0.003725900314748287,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35570457577705383,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.0021615338046103716,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":0.0037194769829511642,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007861042395234108,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007053487002849579,"velocity_rad_s":0.008678805083036423,"acceleration_raw":0.0,"estimated_torque_nm":-1.7071988582611084,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022029314190149307,"velocity_rad_s":0.00911164004355669,"acceleration_raw":0.0,"estimated_torque_nm":-4.403075695037842,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843497097492218,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764626622200012,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0800546258687973,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07922771573066711,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16018114984035492,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2606329321861267,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07788547873497009,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787164410368,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809229,"imu":{"quaternion":[0.9930896162986755,0.0008725395309738815,0.01921236142516136,0.1157725602388382],"gyroscope":[-0.010652642697095871,-0.0063915858045220375,-0.0063915858045220375],"accelerometer":[-0.49649757146835327,0.2801215946674347,9.749488830566406],"rpy":[0.006186045240610838,0.037966277450323105,0.23222608864307404],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013916614465415478,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314205527305603,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029900908470154,"velocity_rad_s":0.0005144232418388128,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242925956845284,"velocity_rad_s":-0.006491601001471281,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013822871260344982,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035106182098389,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":-0.0015746209537610412,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":-0.004614666104316711,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007847650907933712,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007045937702059746,"velocity_rad_s":-1.0292998922523111e-05,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022034112364053726,"velocity_rad_s":0.00853950809687376,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28436169028282166,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00447011599317193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764866828918457,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.08001866936683655,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07926366478204727,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16022908687591553,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2606568932533264,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0779094472527504,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.6937500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787166993440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809230,"imu":{"quaternion":[0.9930897355079651,0.0008687804220244288,0.01920822449028492,0.11577160656452179],"gyroscope":[-0.011717907153069973,-0.0031957929022610188,-0.0031957929022610188],"accelerometer":[-0.49470192193984985,0.2935889959335327,9.653421401977539],"rpy":[0.006177577655762434,0.037958934903144836,0.23222394287586212],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441997170448303,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01389957033097744,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029486656188965,"velocity_rad_s":0.0010511197615414858,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250200517475605,"velocity_rad_s":-0.0018485879991203547,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.0015629887348040938,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.006465734913945198,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007887826301157475,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007045937702059746,"velocity_rad_s":0.005784400273114443,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022034112364053726,"velocity_rad_s":0.007294356357306242,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843497097492218,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764866828918457,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.15625,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07997073233127594,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07926366478204727,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1603369563817978,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2607048451900482,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0779334157705307,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787167620512,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809231,"imu":{"quaternion":[0.9930906891822815,0.0008689092937856913,0.019204743206501007,0.11576367169618607],"gyroscope":[-0.0,0.0010652643395587802,-0.010652642697095871],"accelerometer":[-0.5790975093841553,0.17417816817760468,9.727940559387207],"rpy":[0.00617672223597765,0.037952035665512085,0.23220790922641754],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01389957033097744,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314290761947632,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029900908470154,"velocity_rad_s":0.0010399831226095557,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242925956845284,"velocity_rad_s":-0.0074158948846161366,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035106182098389,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":-0.004218376707285643,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.009220662526786327,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007914610207080841,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007053475361317396,"velocity_rad_s":0.009645077399909496,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022038845345377922,"velocity_rad_s":0.008497470989823341,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843736708164215,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004482100252062082,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764866828918457,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07992279529571533,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07929962128400803,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1603848934173584,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26071682572364807,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07794540375471115,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787169521920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809232,"imu":{"quaternion":[0.9930906891822815,0.0008689092937856913,0.019204743206501007,0.11576367169618607],"gyroscope":[-0.0,0.0010652643395587802,-0.010652642697095871],"accelerometer":[-0.5790975093841553,0.17417816817760468,9.727940559387207],"rpy":[0.00617672223597765,0.037952035665512085,0.23220790922641754],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01389957033097744,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314290761947632,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029486656188965,"velocity_rad_s":0.003678919281810522,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250200517475605,"velocity_rad_s":-0.006470058113336563,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013822871260344982,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521928191185,"velocity_rad_s":-0.0005287511157803237,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724934834986925,"velocity_rad_s":-0.000921199272852391,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007928002625703812,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007061024196445942,"velocity_rad_s":0.013520460575819016,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022034047171473503,"velocity_rad_s":-0.0024987112265080214,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28436169028282166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07985088974237442,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07929962128400803,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.160432830452919,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26071682572364807,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07794540375471115,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787172494592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809233,"imu":{"quaternion":[0.9930917620658875,0.0008717007585801184,0.019200941547751427,0.11575567722320557],"gyroscope":[0.0021305286791175604,-0.004261057358235121,-0.017044229432940483],"accelerometer":[-0.5404910445213318,0.18405425548553467,9.667786598205566],"rpy":[0.006181081756949425,0.03794388845562935,0.23219186067581177],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013891047798097134,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631446123123169,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029486656188965,"velocity_rad_s":-0.0015841040294617414,"acceleration_raw":0.0,"estimated_torque_nm":7.275529384613037,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250200517475605,"velocity_rad_s":-0.0009386561578139663,"acceleration_raw":0.0,"estimated_torque_nm":-0.6345045566558838,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557130992412567,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013822871260344982,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032006630208343267,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035191416740417,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522342443466187,"velocity_rad_s":0.0026902849785983562,"acceleration_raw":0.0,"estimated_torque_nm":4.403921127319336,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002717740135267377,"velocity_rad_s":-0.002798277884721756,"acceleration_raw":0.0,"estimated_torque_nm":1.2189313173294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007941394113004208,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007068550679832697,"velocity_rad_s":0.009656840935349464,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022048309445381165,"velocity_rad_s":-0.001261966535821557,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843736708164215,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07982692122459412,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07932358980178833,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1604567915201187,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2607407867908478,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07796937227249146,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787173162656,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809234,"imu":{"quaternion":[0.9930924773216248,0.0008720701443962753,0.019195668399333954,0.11575037240982056],"gyroscope":[-0.0031957929022610188,-0.0063915858045220375,-0.011717907153069973],"accelerometer":[-0.45429977774620056,0.23433248698711395,9.78719711303711],"rpy":[0.006180389318615198,0.037933360785245895,0.232181116938591],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01389957033097744,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007861042395234108,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314375996589661,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029900908470154,"velocity_rad_s":0.0021022395230829716,"acceleration_raw":0.0,"estimated_torque_nm":7.093746662139893,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242925956845284,"velocity_rad_s":-0.0036971759982407093,"acceleration_raw":0.0,"estimated_torque_nm":-0.6341409683227539,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3557216227054596,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.185546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013831393793225288,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6035106182098389,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522756695747375,"velocity_rad_s":0.002173166023567319,"acceleration_raw":0.0,"estimated_torque_nm":4.314662456512451,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002710527740418911,"velocity_rad_s":-0.005570545792579651,"acceleration_raw":0.0,"estimated_torque_nm":1.270164132118225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007941394113004208,"velocity_rad_s":-0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007083637174218893,"velocity_rad_s":0.01834741048514843,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02204824425280094,"velocity_rad_s":-0.0019097649492323399,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843736708164215,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005692507140338421,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07979097217321396,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07932358980178833,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16058862209320068,"velocity_rad_s":0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2607407867908478,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[47,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07798135280609131,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787176132832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809263,"imu":{"quaternion":[0.9931084513664246,0.0008789750281721354,0.019097479060292244,0.11562970280647278],"gyroscope":[-0.0063915858045220375,0.0063915858045220375,-0.009587379172444344],"accelerometer":[-0.5198410153388977,0.05117605999112129,9.653421401977539],"rpy":[0.006166735664010048,0.037737421691417694,0.23193681240081787],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442593812942505,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013993313536047935,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102949261665344,"velocity_rad_s":-0.002646360546350479,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01022119540721178,"velocity_rad_s":-0.004657375626266003,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355806827545166,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003093527862802148,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":0.009575681760907173,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":0.007326243910938501,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008503853343427181,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007174076046794653,"velocity_rad_s":0.0028988169506192207,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02211456559598446,"velocity_rad_s":-0.0018425056478008628,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28431376814842224,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07877231389284134,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16187092661857605,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609085738658905,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787176790624,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809264,"imu":{"quaternion":[0.9931085705757141,0.0008788967388682067,0.019098738208413124,0.11562809348106384],"gyroscope":[-0.0010652643395587802,0.0074568502604961395,-0.004261057358235121],"accelerometer":[-0.4704606235027313,0.1355716735124588,9.573514938354492],"rpy":[0.006166811566799879,0.03773994743824005,0.2319335788488388],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34427642822265625,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014001836068928242,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029078364372253,"velocity_rad_s":-0.0026389360427856445,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228469967842102,"velocity_rad_s":-0.0009458371787331998,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558153510093689,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":5.009765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003093527862802148,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521937131881714,"velocity_rad_s":0.009046930819749832,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002739391988143325,"velocity_rad_s":0.006405044347047806,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008530637249350548,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007136353757232428,"velocity_rad_s":-0.008686157874763012,"acceleration_raw":0.0,"estimated_torque_nm":-1.7071988582611084,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022119494155049324,"velocity_rad_s":-0.0030119912698864937,"acceleration_raw":0.0,"estimated_torque_nm":-4.403075695037842,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045168545097112656,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07872437685728073,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07950334995985031,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16187092661857605,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26089659333229065,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0785565972328186,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787178718272,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809265,"imu":{"quaternion":[0.9931092262268066,0.0008791742147877812,0.019096266478300095,0.11562328785657883],"gyroscope":[-0.0010652643395587802,-0.0,-0.010652642697095871],"accelerometer":[-0.46417585015296936,0.1553238332271576,9.703699111938477],"rpy":[0.006166606210172176,0.03773500397801399,0.23192386329174042],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442593812942505,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014027401804924011,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029900908470154,"velocity_rad_s":-0.0031533590517938137,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242925956845284,"velocity_rad_s":0.00554576376453042,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558153510093689,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030801359098404646,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852110266685486,"velocity_rad_s":0.011115405708551407,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027393242344260216,"velocity_rad_s":0.017494115978479385,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008544029667973518,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007181602064520121,"velocity_rad_s":0.002900287276133895,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02212882786989212,"velocity_rad_s":-0.0030624354258179665,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28431376814842224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01043826062232256,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045168545097112656,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07871238887310028,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07946740090847015,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16189490258693695,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26089659333229065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.462500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07858056575059891,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787180346464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809266,"imu":{"quaternion":[0.9931092262268066,0.0008791742147877812,0.019096266478300095,0.11562328785657883],"gyroscope":[-0.0010652643395587802,-0.0,-0.010652642697095871],"accelerometer":[-0.46417585015296936,0.1553238332271576,9.703699111938477],"rpy":[0.006166606210172176,0.03773500397801399,0.23192386329174042],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442593812942505,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01401888020336628,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029078364372253,"velocity_rad_s":-0.002094815019518137,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228469967842102,"velocity_rad_s":0.007408713921904564,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558153510093689,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003066744189709425,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034765839576721,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":0.009035298600792885,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":0.008256113156676292,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008570813573896885,"velocity_rad_s":-0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007181602064520121,"velocity_rad_s":-0.0019296037498861551,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02212882786989212,"velocity_rad_s":-0.0012115223798900843,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01043826062232256,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045168545097112656,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07873635739088058,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16196680068969727,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609085738658905,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07859254628419876,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787182223648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809267,"imu":{"quaternion":[0.9931105375289917,0.0008780560456216335,0.019091598689556122,0.11561267822980881],"gyroscope":[-0.004261057358235121,-0.0,-0.012783171609044075],"accelerometer":[-0.5000888705253601,0.1149216815829277,9.702801704406738],"rpy":[0.006162898149341345,0.03772605583071709,0.2319023758172989],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442508578300476,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014010357670485973,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313609480857849,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029486656188965,"velocity_rad_s":-0.0031570715364068747,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250200517475605,"velocity_rad_s":0.003689994802698493,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558153510093689,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003066744189709425,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852110266685486,"velocity_rad_s":0.00687376456335187,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027393242344260216,"velocity_rad_s":0.011975590139627457,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008597597479820251,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007166503928601742,"velocity_rad_s":-0.008680276572704315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022138424217700958,"velocity_rad_s":-0.007891710847616196,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07871238887310028,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16203871369361877,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26092055439949036,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07861651480197906,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787186123328,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809267,"imu":{"quaternion":[0.9931111335754395,0.0008764961967244744,0.0190904401242733,0.11560792475938797],"gyroscope":[-0.004261057358235121,0.0031957929022610188,-0.010652642697095871],"accelerometer":[-0.4489128291606903,0.08080431073904037,9.627384185791016],"rpy":[0.006159348879009485,0.037724144756793976,0.23189273476600647],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442593812942505,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01401888020336628,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102867007255554,"velocity_rad_s":0.003686343552544713,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010221251286566257,"velocity_rad_s":-0.002758519956842065,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558238744735718,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013822871260344982,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030801359098404646,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521928191185,"velocity_rad_s":0.004828553646802902,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724934834986925,"velocity_rad_s":-0.0028156177140772343,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008624380454421043,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007181590422987938,"velocity_rad_s":0.0009677427588030696,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022138359025120735,"velocity_rad_s":-0.0018340983660891652,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21527263522148132,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07868842035531998,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16208665072917938,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609085738658905,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07864048331975937,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787186762688,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809268,"imu":{"quaternion":[0.9931115508079529,0.0008766087703406811,0.019088320434093475,0.11560418456792831],"gyroscope":[-0.0010652643395587802,0.0010652643395587802,-0.008522114716470242],"accelerometer":[-0.4156932830810547,0.05835866555571556,9.665990829467773],"rpy":[0.006158940028399229,0.03771992772817612,0.23188516497612],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442593812942505,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014027401804924011,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007914610207080841,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028667092323303,"velocity_rad_s":-0.0005144232418388128,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235745459794998,"velocity_rad_s":0.006491601001471281,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558238744735718,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030533522367477417,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852110266685486,"velocity_rad_s":0.00905856303870678,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027393242344260216,"velocity_rad_s":0.004553976934403181,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008624380454421043,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007181590422987938,"velocity_rad_s":0.0028988169506192207,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022138359025120735,"velocity_rad_s":-0.0018425056478008628,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07866445183753967,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16213458776474,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26092055439949036,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07864048331975937,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.6937500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787188352864,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809269,"imu":{"quaternion":[0.9931115508079529,0.0008766087703406811,0.019088320434093475,0.11560418456792831],"gyroscope":[-0.0010652643395587802,0.0010652643395587802,-0.008522114716470242],"accelerometer":[-0.4156932830810547,0.05835866555571556,9.665990829467773],"rpy":[0.006158940028399229,0.03771992772817612,0.23188516497612],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34426790475845337,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01401888020336628,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007954785600304604,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028667092323303,"velocity_rad_s":-0.0005218476289883256,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235745459794998,"velocity_rad_s":0.0027800630778074265,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558238744735718,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013848437927663326,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003066744189709425,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852110266685486,"velocity_rad_s":0.005874423775821924,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027393242344260216,"velocity_rad_s":0.0008778490009717643,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00865116436034441,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007181590422987938,"velocity_rad_s":0.0077316490933299065,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022138359025120735,"velocity_rad_s":-0.006133278366178274,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07865247130393982,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1622304618358612,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609325349330902,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07862850278615952,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787163862336,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":21760,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 156, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 399, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 263, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 6603804, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":156,"normal_force2":0,"normal_force3":0,"self_proximity1":6603804,"self_proximity2":0,"status":10752,"tangential_direction1":263,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":399,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 67, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 40, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 288, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 5221070, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":67,"normal_force2":0,"normal_force3":0,"self_proximity1":5221070,"self_proximity2":0,"status":9216,"tangential_direction1":288,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":40,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 28, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 17, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 277, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 3279870, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":28,"normal_force2":0,"normal_force3":0,"self_proximity1":3279870,"self_proximity2":0,"status":9216,"tangential_direction1":277,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":17,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 54, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 7, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 293, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 4229937, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":54,"normal_force2":0,"normal_force3":0,"self_proximity1":4229937,"self_proximity2":0,"status":20992,"tangential_direction1":293,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":7,"tangential_force2":0,"tangential_force3":0}],"touch_metric":399.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":787189559168,"stream":"brainco.motor","data":{"currents":[10,-100,19,2,-20,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [10, -100, 19, 2, -20, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":787190627968,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":399.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.03774032278806584}} +{"timestamp_monotonic_ns":787192828544,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809270,"imu":{"quaternion":[0.9931125640869141,0.0008752983412705362,0.019082017242908478,0.11559674143791199],"gyroscope":[-0.0021305286791175604,-0.0010652643395587802,-0.010652642697095871],"accelerometer":[-0.39055415987968445,0.07092822343111038,9.6803560256958],"rpy":[0.006154591217637062,0.03770775720477104,0.23187004029750824],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34426790475845337,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014035924337804317,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007941394113004208,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102949261665344,"velocity_rad_s":-0.0031533590517938137,"acceleration_raw":0.0,"estimated_torque_nm":6.911963939666748,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01022119540721178,"velocity_rad_s":0.00554576376453042,"acceleration_raw":0.0,"estimated_torque_nm":-0.6337773203849792,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35583239793777466,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030533522367477417,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520259261131287,"velocity_rad_s":0.008012693375349045,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027247993275523186,"velocity_rad_s":0.0008605089969933033,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00866455677896738,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007174041587859392,"velocity_rad_s":0.00482989102602005,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022143157199025154,"velocity_rad_s":-0.0018509130459278822,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045168545097112656,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07862850278615952,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07946740090847015,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16227839887142181,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609325349330902,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07867643982172012,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787193468832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809271,"imu":{"quaternion":[0.9931133389472961,0.0008747382089495659,0.01908016763627529,0.11559037119150162],"gyroscope":[-0.0021305286791175604,0.0021305286791175604,-0.013848436065018177],"accelerometer":[-0.4381389021873474,0.19393034279346466,9.605836868286133],"rpy":[0.006152806803584099,0.03770424798130989,0.23185715079307556],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34427642822265625,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014044445939362049,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007954785600304604,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029075384140015,"velocity_rad_s":-0.006314143072813749,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242964141070843,"velocity_rad_s":0.007379989605396986,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558238744735718,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030533522367477417,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603485107421875,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521928191185,"velocity_rad_s":0.004253273364156485,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002724934834986925,"velocity_rad_s":0.0036674567963927984,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008704732172191143,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007166492287069559,"velocity_rad_s":-0.0019296037498861551,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022147955372929573,"velocity_rad_s":-0.0012115223798900843,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07860453426837921,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16233831644058228,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609325349330902,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07868842035531998,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787195635840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809272,"imu":{"quaternion":[0.9931133389472961,0.0008747382089495659,0.01908016763627529,0.11559037119150162],"gyroscope":[-0.0021305286791175604,0.0021305286791175604,-0.013848436065018177],"accelerometer":[-0.4381389021873474,0.19393034279346466,9.605836868286133],"rpy":[0.006152806803584099,0.03770424798130989,0.23185715079307556],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34427642822265625,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014044445939362049,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007928002625703812,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028667092323303,"velocity_rad_s":-0.004215615335851908,"acceleration_raw":0.0,"estimated_torque_nm":7.003206729888916,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235745459794998,"velocity_rad_s":0.001827044878154993,"acceleration_raw":0.0,"estimated_torque_nm":-0.6856223940849304,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558238744735718,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013822871260344982,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003026568330824375,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034510135650635,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521525859832764,"velocity_rad_s":0.005816262681037188,"acceleration_raw":0.0,"estimated_torque_nm":4.045206069946289,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027465864550322294,"velocity_rad_s":0.01013319194316864,"acceleration_raw":0.0,"estimated_torque_nm":1.2166770696640015,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008718123659491539,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007166492287069559,"velocity_rad_s":-0.004828420467674732,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022147955372929573,"velocity_rad_s":0.0006309832679107785,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07862850278615952,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07946740090847015,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16238625347614288,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26094451546669006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07871238887310028,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787197863712,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809273,"imu":{"quaternion":[0.9931142330169678,0.0008757405448704958,0.019078997895121574,0.11558343470096588],"gyroscope":[0.0010652643395587802,0.0031957929022610188,-0.014913700520992279],"accelerometer":[-0.42018240690231323,0.16968904435634613,9.58249282836914],"rpy":[0.006154264323413372,0.03770173341035843,0.2318432331085205],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34427642822265625,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014052968472242355,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007954785600304604,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102867007255554,"velocity_rad_s":-0.003168208058923483,"acceleration_raw":0.0,"estimated_torque_nm":6.911963939666748,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010221251286566257,"velocity_rad_s":-0.0018773123156279325,"acceleration_raw":0.0,"estimated_torque_nm":-0.6337773203849792,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558238744735718,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030399602837860584,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034595370292664,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852110266685486,"velocity_rad_s":0.008483282290399075,"acceleration_raw":0.0,"estimated_torque_nm":3.9551074504852295,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027393242344260216,"velocity_rad_s":0.011037051677703857,"acceleration_raw":0.0,"estimated_torque_nm":1.1643171310424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008744907565414906,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007166492287069559,"velocity_rad_s":-0.007725767325609922,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022147955372929573,"velocity_rad_s":0.0012535593705251813,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045168545097112656,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07862850278615952,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16244617104530334,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609564960002899,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07872437685728073,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787199714816,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809274,"imu":{"quaternion":[0.9931156039237976,0.000875229830853641,0.019069300964474678,0.11557277292013168],"gyroscope":[-0.0021305286791175604,-0.0063915858045220375,-0.011717907153069973],"accelerometer":[-0.3932476341724396,0.09068039059638977,9.79797077178955],"rpy":[0.006150597240775824,0.03768265247344971,0.23182155191898346],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34428495168685913,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014061490073800087,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007941394113004208,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028667092323303,"velocity_rad_s":0.0005255598807707429,"acceleration_raw":0.0,"estimated_torque_nm":6.911963939666748,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235745459794998,"velocity_rad_s":-0.0009242939995601773,"acceleration_raw":0.0,"estimated_torque_nm":-0.6337773203849792,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558238744735718,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.009765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003026568330824375,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034595370292664,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852151691913605,"velocity_rad_s":0.0053573050536215305,"acceleration_raw":0.0,"estimated_torque_nm":3.9551074504852295,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321295347064734,"velocity_rad_s":-0.0018944183830171824,"acceleration_raw":0.0,"estimated_torque_nm":1.1643171310424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008771691471338272,"velocity_rad_s":-0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007166492287069559,"velocity_rad_s":-0.01737525500357151,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022147955372929573,"velocity_rad_s":-0.0035841227509081364,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07860453426837921,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1624821275472641,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609564960002899,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07872437685728073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787201306944,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809275,"imu":{"quaternion":[0.9931156039237976,0.000875229830853641,0.019069300964474678,0.11557277292013168],"gyroscope":[-0.0021305286791175604,-0.0063915858045220375,-0.011717907153069973],"accelerometer":[-0.3932476341724396,0.09068039059638977,9.79797077178955],"rpy":[0.006150597240775824,0.03768265247344971,0.23182155191898346],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34428495168685913,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014052968472242355,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007954785600304604,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027844548225403,"velocity_rad_s":-0.0010696809040382504,"acceleration_raw":0.0,"estimated_torque_nm":6.911963939666748,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010221307165920734,"velocity_rad_s":-0.007430257275700569,"acceleration_raw":0.0,"estimated_torque_nm":-0.6337773203849792,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35584092140197754,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013805827125906944,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003026568330824375,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034680604934692,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28522351384162903,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.8658485412597656,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027321972884237766,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.2155499458312988,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008771691471338272,"velocity_rad_s":-0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00718156760558486,"velocity_rad_s":-0.002897346392273903,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022157421335577965,"velocity_rad_s":0.00062257592799142,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07860453426837921,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1625300645828247,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2609564960002899,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07873635739088058,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787203146368,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809276,"imu":{"quaternion":[0.9931164383888245,0.0008736651507206261,0.019061259925365448,0.1155664324760437],"gyroscope":[-0.0053263213485479355,-0.009587379172444344,-0.013848436065018177],"accelerometer":[-0.3932476341724396,0.09068039059638977,9.79797077178955],"rpy":[0.006145384628325701,0.03766707703471184,0.2318085879087448],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34428495168685913,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014052968472242355,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007954785600304604,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029078364372253,"velocity_rad_s":-0.004234176594763994,"acceleration_raw":0.0,"estimated_torque_nm":6.911963939666748,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228469967842102,"velocity_rad_s":-0.007451800629496574,"acceleration_raw":0.0,"estimated_torque_nm":-0.6337773203849792,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558664917945862,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003026568330824375,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034510135650635,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521525859832764,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.8658485412597656,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027465864550322294,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.2155499458312988,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":-0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007174018304795027,"velocity_rad_s":-0.002900287276133895,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022162219509482384,"velocity_rad_s":0.0030624354258179665,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045168545097112656,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07860453426837921,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07950334995985031,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16255402565002441,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26096847653388977,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07874834537506104,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787205271744,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809277,"imu":{"quaternion":[0.9931173324584961,0.000872312462888658,0.019055787473917007,0.11556006968021393],"gyroscope":[-0.004261057358235121,-0.004261057358235121,-0.013848436065018177],"accelerometer":[-0.3196259140968323,0.08888474106788635,9.729736328125],"rpy":[0.006141184829175472,0.03765655681490898,0.23179565370082855],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443019986152649,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014052968472242355,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007968178018927574,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028667092323303,"velocity_rad_s":-0.008967927657067776,"acceleration_raw":0.0,"estimated_torque_nm":6.820720672607422,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235745459794998,"velocity_rad_s":-0.000988924060948193,"acceleration_raw":0.0,"estimated_torque_nm":-0.5819322466850281,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558664917945862,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030131766106933355,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034595370292664,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852447032928467,"velocity_rad_s":-0.010174226947128773,"acceleration_raw":0.0,"estimated_torque_nm":3.8658485412597656,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002782984171062708,"velocity_rad_s":0.0028589684516191483,"acceleration_raw":0.0,"estimated_torque_nm":1.2155499458312988,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008825259283185005,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007166492287069559,"velocity_rad_s":-0.004825479816645384,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022147955372929573,"velocity_rad_s":-0.001808876171708107,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28426581621170044,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01043826062232256,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07859254628419876,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705199122428894,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16262593865394592,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26099246740341187,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.449999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07874834537506104,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787207108832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809278,"imu":{"quaternion":[0.9931180477142334,0.0008713265997357666,0.019052444025874138,0.11555424332618713],"gyroscope":[-0.0031957929022610188,-0.0,-0.012783171609044075],"accelerometer":[-0.37169981002807617,0.16879121959209442,9.57441234588623],"rpy":[0.006138230208307505,0.037650179117918015,0.23178382217884064],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34428495168685913,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014052968472242355,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007968178018927574,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313609480857849,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028667092323303,"velocity_rad_s":-0.008460928685963154,"acceleration_raw":0.0,"estimated_torque_nm":6.911963939666748,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235745459794998,"velocity_rad_s":-0.011192063800990582,"acceleration_raw":0.0,"estimated_torque_nm":-0.6337773203849792,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3558920621871948,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013805827125906944,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030131766106933355,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034339666366577,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852363586425781,"velocity_rad_s":-0.0021266366820782423,"acceleration_raw":0.0,"estimated_torque_nm":3.8658485412597656,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027829164173454046,"velocity_rad_s":-0.0018337283981963992,"acceleration_raw":0.0,"estimated_torque_nm":1.2155499458312988,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008825259283185005,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00718156760558486,"velocity_rad_s":-0.0009662723168730736,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022157421335577965,"velocity_rad_s":0.0006141685880720615,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07858056575059891,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2705438733100891,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16267387568950653,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2610164284706116,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.425000190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07876032590866089,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787209088064,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809279,"imu":{"quaternion":[0.9931188225746155,0.0008690856629982591,0.0190504789352417,0.11554793268442154],"gyroscope":[-0.0053263213485479355,0.0031957929022610188,-0.013848436065018177],"accelerometer":[-0.34656068682670593,0.10953472554683685,9.75397777557373],"rpy":[0.006133082322776318,0.0376468300819397,0.23177100718021393],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443019986152649,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014061490073800087,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00798156950622797,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029075384140015,"velocity_rad_s":-0.008979064412415028,"acceleration_raw":0.0,"estimated_torque_nm":6.911963939666748,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242964141070843,"velocity_rad_s":-0.0065562305971980095,"acceleration_raw":0.0,"estimated_torque_nm":-0.6337773203849792,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559005856513977,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029997846577316523,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034424901008606,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852405905723572,"velocity_rad_s":-0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":3.776589870452881,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002790178870782256,"velocity_rad_s":0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.2667827606201172,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008838650770485401,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007166481111198664,"velocity_rad_s":-0.0009662723168730736,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022157486528158188,"velocity_rad_s":0.0006141685880720615,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0785565972328186,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07947938144207001,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27053189277648926,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16270983219146729,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2610164284706116,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07876032590866089,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787210676864,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809298,"imu":{"quaternion":[0.9931317567825317,0.0008403529063798487,0.01895204931497574,0.11545340716838837],"gyroscope":[0.0021305286791175604,-0.010652642697095871,-0.010652642697095871],"accelerometer":[-0.39234980940818787,-0.002693476853892207,9.748590469360352],"rpy":[0.006049599964171648,0.03745847940444946,0.231578066945076],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443105220794678,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014129667542874813,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008102096617221832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028664112091064,"velocity_rad_s":-0.001587816164828837,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250238701701164,"velocity_rad_s":-0.0027944252360612154,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00287925754673779,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034339666366577,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525325655937195,"velocity_rad_s":-0.008553076535463333,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002811965998262167,"velocity_rad_s":6.936008139746264e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009213624522089958,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00712119834497571,"velocity_rad_s":-0.009662723168730736,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022176744416356087,"velocity_rad_s":0.006141685880720615,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27050793170928955,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1634528487920761,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2613639533519745,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07901199907064438,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787212545568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809299,"imu":{"quaternion":[0.9931317567825317,0.0008403529063798487,0.01895204931497574,0.11545340716838837],"gyroscope":[0.0021305286791175604,-0.010652642697095871,-0.010652642697095871],"accelerometer":[-0.39234980940818787,-0.002693476853892207,9.748590469360352],"rpy":[0.006049599964171648,0.03745847940444946,0.231578066945076],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014138189144432545,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008088705129921436,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028255820274353,"velocity_rad_s":-1.1136643479403574e-05,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228525847196579,"velocity_rad_s":-0.0055673071183264256,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00287925754673779,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034339666366577,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":-0.004805289208889008,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":-0.000886519264895469,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009240408428013325,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00712119834497571,"velocity_rad_s":-0.015455945394933224,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022176744416356087,"velocity_rad_s":0.006166907958686352,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27048397064208984,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1634528487920761,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26137596368789673,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.324999809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07900001108646393,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787214125504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809300,"imu":{"quaternion":[0.9931322932243347,0.0008438222575932741,0.018946701660752296,0.11544955521821976],"gyroscope":[0.0053263213485479355,-0.004261057358235121,-0.008522114716470242],"accelerometer":[-0.39234980940818787,-0.002693476853892207,9.748590469360352],"rpy":[0.006055112462490797,0.03744707629084587,0.23157034814357758],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443019986152649,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014138189144432545,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008115489035844803,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027841567993164,"velocity_rad_s":0.0010474075097590685,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235801339149475,"velocity_rad_s":-0.003704356960952282,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00287925754673779,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034339666366577,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852575480937958,"velocity_rad_s":-0.0032306683715432882,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028336853720247746,"velocity_rad_s":0.003728147130459547,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007121209986507893,"velocity_rad_s":-0.015454474836587906,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022167213261127472,"velocity_rad_s":0.004946977831423283,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27047199010849,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16350078582763672,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26139992475509644,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07900001108646393,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787215979808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809301,"imu":{"quaternion":[0.9931328296661377,0.0008437458891421556,0.01894303783774376,0.11544635146856308],"gyroscope":[-0.0010652643395587802,-0.0,-0.0074568502604961395],"accelerometer":[-0.3420715630054474,-0.042197804898023605,9.796175956726074],"rpy":[0.006053990684449673,0.03743983805179596,0.23156385123729706],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014155233278870583,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008128880523145199,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314205527305603,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028255820274353,"velocity_rad_s":-0.0005292720743454993,"acceleration_raw":0.0,"estimated_torque_nm":6.7301812171936035,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228525847196579,"velocity_rad_s":-0.0009314750786870718,"acceleration_raw":0.0,"estimated_torque_nm":-0.6334136724472046,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002852473873645067,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034254431724548,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":0.0005752804572694004,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":-0.006483074743300676,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007113649509847164,"velocity_rad_s":-0.016426630318164825,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022181542590260506,"velocity_rad_s":0.010440865531563759,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27048397064208984,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16351276636123657,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26144784688949585,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.28125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07902397960424423,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787218114272,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809302,"imu":{"quaternion":[0.9931331276893616,0.0008414080948568881,0.018940184265375137,0.11544318497180939],"gyroscope":[-0.0053263213485479355,0.0021305286791175604,-0.0074568502604961395],"accelerometer":[-0.40132805705070496,0.06823474913835526,9.78989028930664],"rpy":[0.006048566196113825,0.03743472322821617,0.23155732452869415],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443019986152649,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014155233278870583,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008128880523145199,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027430295944214,"velocity_rad_s":0.0005255598807707429,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01022858265787363,"velocity_rad_s":-0.0009242939995601773,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002852473873645067,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034339666366577,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":-0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":3.686491012573242,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.2144228219985962,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00712119834497571,"velocity_rad_s":-0.007728708442300558,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022176744416356087,"velocity_rad_s":0.003693418810144067,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07844873517751694,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27047199010849,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16356070339679718,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2614598274230957,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07905993610620499,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787219968128,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809303,"imu":{"quaternion":[0.993133544921875,0.0008359955390915275,0.018937058746814728,0.11544011533260345],"gyroscope":[-0.011717907153069973,0.0021305286791175604,-0.0074568502604961395],"accelerometer":[-0.46417585015296936,0.19213469326496124,9.63995361328125],"rpy":[0.006036968901753426,0.03742977976799011,0.2315509021282196],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443019986152649,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014163755811750889,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008169055916368961,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027844548225403,"velocity_rad_s":-0.0005441209650598466,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010221307165920734,"velocity_rad_s":-0.008354551158845425,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002852473873645067,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603416919708252,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524500131607056,"velocity_rad_s":0.0010807669023051858,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028263551648706198,"velocity_rad_s":-0.0018597384914755821,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007098562549799681,"velocity_rad_s":-0.009662723168730736,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02218160778284073,"velocity_rad_s":0.006141685880720615,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045168545097112656,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27047199010849,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16358467936515808,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2614838182926178,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07905993610620499,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787221875392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809304,"imu":{"quaternion":[0.9931342601776123,0.0008331590215675533,0.018934354186058044,0.11543487757444382],"gyroscope":[-0.0063915858045220375,0.0021305286791175604,-0.011717907153069973],"accelerometer":[-0.4920084476470947,0.10145429521799088,9.72165584564209],"rpy":[0.006030506454408169,0.037425097078084946,0.23154020309448242],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014180799946188927,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00814227294176817,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028255820274353,"velocity_rad_s":-0.0021319370716810226,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228525847196579,"velocity_rad_s":-0.011148976162075996,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002839081920683384,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603416919708252,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":0.0038059488870203495,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":-0.010211221873760223,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007098551373928785,"velocity_rad_s":-0.011595267802476883,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022191138938069344,"velocity_rad_s":0.007370022591203451,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2704479992389679,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16362062096595764,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26151975989341736,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07903596758842468,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787226509696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809305,"imu":{"quaternion":[0.9931349158287048,0.0008312964346259832,0.01893237791955471,0.11542904376983643],"gyroscope":[-0.004261057358235121,0.0031957929022610188,-0.012783171609044075],"accelerometer":[-0.4920084476470947,0.10145429521799088,9.72165584564209],"rpy":[0.006026127375662327,0.037421632558107376,0.23152834177017212],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014172278344631195,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008169055916368961,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028664112091064,"velocity_rad_s":-0.0015915284166112542,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250238701701164,"velocity_rad_s":-0.004650194197893143,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002839081920683384,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525325655937195,"velocity_rad_s":-0.0005287511157803237,"acceleration_raw":0.0,"estimated_torque_nm":3.686491012573242,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002811965998262167,"velocity_rad_s":-0.000921199272852391,"acceleration_raw":0.0,"estimated_torque_nm":1.2144228219985962,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007106100209057331,"velocity_rad_s":-0.00580057455226779,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022186340764164925,"velocity_rad_s":0.006124870851635933,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14612366259098053,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07844873517751694,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27046000957489014,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1636805534362793,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2615557014942169,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07904794812202454,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787228751264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809306,"imu":{"quaternion":[0.9931358695030212,0.0008294166182167828,0.018931008875370026,0.11542167514562607],"gyroscope":[-0.004261057358235121,0.004261057358235121,-0.015978964045643806],"accelerometer":[-0.4686649739742279,0.19303251802921295,9.806949615478516],"rpy":[0.0060217962600290775,0.037419393658638,0.23151342570781708],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014155233278870583,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008155664429068565,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028255820274353,"velocity_rad_s":-0.0026612095534801483,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228525847196579,"velocity_rad_s":-0.012080451473593712,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01375469472259283,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":-0.0005403834511525929,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":0.0009298692457377911,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009307367727160454,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007106100209057331,"velocity_rad_s":-0.002903228159993887,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022186340764164925,"velocity_rad_s":0.00550229474902153,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14612366259098053,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2704479992389679,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16371649503707886,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26156771183013916,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07908390462398529,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787230745728,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809307,"imu":{"quaternion":[0.9931367039680481,0.0008273447747342288,0.01892749033868313,0.11541589349508286],"gyroscope":[-0.0053263213485479355,-0.0,-0.012783171609044075],"accelerometer":[-0.449810653924942,0.1553238332271576,9.780912399291992],"rpy":[0.006016644649207592,0.03741292282938957,0.23150168359279633],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34428495168685913,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014197844080626965,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008155664429068565,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027430295944214,"velocity_rad_s":-0.000536696461495012,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01022858265787363,"velocity_rad_s":-0.00464301323518157,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01375469472259283,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028256899677217007,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525325655937195,"velocity_rad_s":-0.0010807669023051858,"acceleration_raw":0.0,"estimated_torque_nm":3.686491012573242,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002811965998262167,"velocity_rad_s":0.0018597384914755821,"acceleration_raw":0.0,"estimated_torque_nm":1.2144228219985962,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00933415163308382,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007106100209057331,"velocity_rad_s":-0.001936956075951457,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022186340764164925,"velocity_rad_s":0.004888126160949469,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14612366259098053,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27043601870536804,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1637524515390396,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2616036534309387,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07908390462398529,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787232655424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809308,"imu":{"quaternion":[0.9931373000144958,0.0008260381873697042,0.018921872600913048,0.11541110277175903],"gyroscope":[-0.004261057358235121,-0.004261057358235121,-0.010652642697095871],"accelerometer":[-0.38965633511543274,0.06913257390260696,9.756670951843262],"rpy":[0.0060125673189759254,0.037402089685201645,0.23149186372756958],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014189322479069233,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008169055916368961,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027841567993164,"velocity_rad_s":-0.002117088297381997,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235801339149475,"velocity_rad_s":-0.003725900314748287,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028256899677217007,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033998727798462,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":0.0021033722441643476,"acceleration_raw":0.0,"estimated_torque_nm":3.5071334838867188,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":0.005535865668207407,"acceleration_raw":0.0,"estimated_torque_nm":1.213295817375183,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009347543120384216,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007098562549799681,"velocity_rad_s":-0.005799104459583759,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02218160778284073,"velocity_rad_s":0.004904941190034151,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14612366259098053,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04518052935600281,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07848469167947769,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2704240381717682,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1637764275074005,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2616276144981384,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07909588515758514,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787234346944,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809309,"imu":{"quaternion":[0.993137776851654,0.000827713985927403,0.01891394890844822,0.11540783196687698],"gyroscope":[0.0010652643395587802,-0.009587379172444344,-0.0074568502604961395],"accelerometer":[-0.45429977774620056,0.09516951441764832,9.641749382019043],"rpy":[0.006013941951096058,0.0373859778046608,0.23148521780967712],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014189322479069233,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008169055916368961,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027844548225403,"velocity_rad_s":-0.0021356495562940836,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010221307165920734,"velocity_rad_s":-0.013004746288061142,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028256899677217007,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033998727798462,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":0.001632782630622387,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":-0.0046406760811805725,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009347543120384216,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007098562549799681,"velocity_rad_s":-0.005794692784547806,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02218160778284073,"velocity_rad_s":0.00124515185598284,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2704240381717682,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16381236910820007,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2616875469684601,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0791078731417656,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787236718112,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809310,"imu":{"quaternion":[0.9931378960609436,0.0008306704112328589,0.018909404054284096,0.11540716886520386],"gyroscope":[0.004261057358235121,-0.0031957929022610188,-0.0021305286791175604],"accelerometer":[-0.45429977774620056,0.09516951441764832,9.641749382019043],"rpy":[0.006018742453306913,0.03737626597285271,0.23148392140865326],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01420636661350727,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008182448334991932,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102867007255554,"velocity_rad_s":-0.003704904578626156,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010221251286566257,"velocity_rad_s":-0.006520325783640146,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":-0.0005054863868281245,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":-0.004623336251825094,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009374327026307583,"velocity_rad_s":-0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007098574191331863,"velocity_rad_s":-0.007725767325609922,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022172078490257263,"velocity_rad_s":0.0012535593705251813,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07848469167947769,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2704240381717682,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16383634507656097,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2617115080356598,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07911985367536545,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787239327520,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809311,"imu":{"quaternion":[0.9931381940841675,0.0008319049375131726,0.01890532486140728,0.11540604382753372],"gyroscope":[0.0010652643395587802,-0.0021305286791175604,-0.0031957929022610188],"accelerometer":[-0.5315127968788147,0.061052143573760986,9.606734275817871],"rpy":[0.0060202088207006454,0.03736788406968117,0.2314816564321518],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01423193234950304,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008195839822292328,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028255820274353,"velocity_rad_s":0.0005255598807707429,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228525847196579,"velocity_rad_s":-0.0009242939995601773,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852492034435272,"velocity_rad_s":-0.0016095179598778486,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028336176183074713,"velocity_rad_s":0.000938539276830852,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009347543120384216,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007083476055413485,"velocity_rad_s":-0.007722826208919287,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0221816748380661,"velocity_rad_s":-0.0011863004183396697,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2704000771045685,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16386030614376068,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26172348856925964,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0791318416595459,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787239994848,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809312,"imu":{"quaternion":[0.9931385517120361,0.0008308092947117984,0.018902145326137543,0.11540337651968002],"gyroscope":[-0.0031957929022610188,-0.0,-0.0063915858045220375],"accelerometer":[-0.5180453658103943,0.06554127484560013,9.53849983215332],"rpy":[0.00601719506084919,0.037361834198236465,0.23147620260715485],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014214888215065002,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027844548225403,"velocity_rad_s":0.0031533590517938137,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010221307165920734,"velocity_rad_s":-0.00554576376453042,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033828258514404,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.5071334838867188,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.213295817375183,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009360934607684612,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007098562549799681,"velocity_rad_s":-0.004815187305212021,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02218160778284073,"velocity_rad_s":-0.010348384268581867,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01043826062232256,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27038809657096863,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16388428211212158,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26174744963645935,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07914382219314575,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787242267968,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809313,"imu":{"quaternion":[0.9931385517120361,0.0008308092947117984,0.018902145326137543,0.11540337651968002],"gyroscope":[-0.0031957929022610188,-0.0,-0.0063915858045220375],"accelerometer":[-0.5180453658103943,0.06554127484560013,9.53849983215332],"rpy":[0.00601719506084919,0.037361834198236465,0.23147620260715485],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443019986152649,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014214888215065002,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008182448334991932,"velocity_rad_s":0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31029075384140015,"velocity_rad_s":-0.0005255598807707429,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010242964141070843,"velocity_rad_s":0.0009242939995601773,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":0.0010807669023051858,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":-0.0018597384914755821,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009387718513607979,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007091013714671135,"velocity_rad_s":-0.012543894350528717,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022186405956745148,"velocity_rad_s":-0.006654965691268444,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07848469167947769,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2703401446342468,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1639082431793213,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2617834210395813,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0791558101773262,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787244241696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809314,"imu":{"quaternion":[0.9931396842002869,0.00082492979709059,0.01889054849743843,0.11539552360773087],"gyroscope":[-0.0063915858045220375,-0.004261057358235121,-0.008522114716470242],"accelerometer":[-0.4255693554878235,0.12120646238327026,9.727043151855469],"rpy":[0.00600252952426672,0.037340197712183,0.23146000504493713],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014214888215065002,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027430295944214,"velocity_rad_s":0.003175632329657674,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01022858265787363,"velocity_rad_s":0.005588850472122431,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524500131607056,"velocity_rad_s":0.0015978856245055795,"acceleration_raw":0.0,"estimated_torque_nm":3.5963921546936035,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028263551648706198,"velocity_rad_s":0.00091252924175933,"acceleration_raw":0.0,"estimated_torque_nm":1.1620628833770752,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007106111850589514,"velocity_rad_s":-0.0067492020316421986,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02217680960893631,"velocity_rad_s":-0.00790011789649725,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07848469167947769,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2703401446342468,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1639322191476822,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26179540157318115,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0791558101773262,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787245847104,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809315,"imu":{"quaternion":[0.9931398034095764,0.0008226399077102542,0.01888502761721611,0.11539553105831146],"gyroscope":[-0.0063915858045220375,-0.004261057358235121,-0.0010652643395587802],"accelerometer":[-0.4255693554878235,0.12120646238327026,9.727043151855469],"rpy":[0.005996700841933489,0.03732975572347641,0.2314598262310028],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443019986152649,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014223410747945309,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31028255820274353,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.8214240074157715,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010228525847196579,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6852587461471558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013746172189712524,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524911403656006,"velocity_rad_s":-0.0010458698961883783,"acceleration_raw":0.0,"estimated_torque_nm":3.5071334838867188,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028191604651510715,"velocity_rad_s":-0.003693467006087303,"acceleration_raw":0.0,"estimated_torque_nm":1.213295817375183,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007083476055413485,"velocity_rad_s":-0.007715474348515272,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0221816748380661,"velocity_rad_s":-0.007285949308425188,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07849667221307755,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.270328164100647,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16394419968128204,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2618313431739807,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07916779071092606,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787247755616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809315,"imu":{"quaternion":[0.9931398630142212,0.0008228260558098555,0.018880363553762436,0.11539493501186371],"gyroscope":[-0.0010652643395587802,-0.0031957929022610188,-0.0021305286791175604],"accelerometer":[-0.46327802538871765,0.017058687284588814,9.702801704406738],"rpy":[0.00599597068503499,0.037320442497730255,0.23145855963230133],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014223410747945309,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027844548225403,"velocity_rad_s":0.0005292720743454993,"acceleration_raw":0.0,"estimated_torque_nm":6.7301812171936035,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010221307165920734,"velocity_rad_s":0.0009314750786870718,"acceleration_raw":0.0,"estimated_torque_nm":-0.6334136724472046,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0028122980147600174,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033828258514404,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852574586868286,"velocity_rad_s":-0.002115004463121295,"acceleration_raw":0.0,"estimated_torque_nm":3.41703462600708,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002819228218868375,"velocity_rad_s":-0.003684797091409564,"acceleration_raw":0.0,"estimated_torque_nm":1.1609357595443726,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007075915578752756,"velocity_rad_s":-0.010618702508509159,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022196004167199135,"velocity_rad_s":-0.0017836542101576924,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.27030420303344727,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1639801561832428,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26184332370758057,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07916779071092606,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787249998432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809316,"imu":{"quaternion":[0.9931398630142212,0.0008228260558098555,0.018880363553762436,0.11539493501186371],"gyroscope":[-0.0010652643395587802,-0.0031957929022610188,-0.0021305286791175604],"accelerometer":[-0.46327802538871765,0.017058687284588814,9.702801704406738],"rpy":[0.00599597068503499,0.037320442497730255,0.23145855963230133],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01423193234950304,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027019023895264,"velocity_rad_s":0.002128225052729249,"acceleration_raw":0.0,"estimated_torque_nm":6.7301812171936035,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235857218503952,"velocity_rad_s":0.009293207898736,"acceleration_raw":0.0,"estimated_torque_nm":-0.6334136724472046,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027855143416672945,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28526169061660767,"velocity_rad_s":-0.0005403834511525929,"acceleration_raw":0.0,"estimated_torque_nm":3.5071334838867188,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028264906723052263,"velocity_rad_s":0.0009298692457377911,"acceleration_raw":0.0,"estimated_torque_nm":1.213295817375183,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007091002073138952,"velocity_rad_s":-0.0019325446337461472,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022195937111973763,"velocity_rad_s":0.001228337176144123,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07849667221307755,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2702682614326477,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16401611268520355,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26189127564430237,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07919175922870636,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787251605088,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809339,"imu":{"quaternion":[0.9931478500366211,0.0008002409595064819,0.01877686381340027,0.11534379422664642],"gyroscope":[-0.0031957929022610188,-0.0031957929022610188,-0.0031957929022610188],"accelerometer":[-0.3447650372982025,0.13736732304096222,9.796175956726074],"rpy":[0.005925220437347889,0.03712031990289688,0.23135322332382202],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443445861339569,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014368286356329918,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008302975445985794,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027427315711975,"velocity_rad_s":0.005773734301328659,"acceleration_raw":0.0,"estimated_torque_nm":6.639641284942627,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010243075899779797,"velocity_rad_s":-0.013878772035241127,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848951578140259,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852492928504944,"velocity_rad_s":0.006885396782308817,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028480745386332273,"velocity_rad_s":0.01012452132999897,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007023095618933439,"velocity_rad_s":-0.0057976339012384415,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022210529074072838,"velocity_rad_s":0.0036850112956017256,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2698487937450409,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1648550033569336,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26239460706710815,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07939549535512924,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787253635616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809340,"imu":{"quaternion":[0.9931482076644897,0.0008000896777957678,0.01877187378704548,0.1153416559100151],"gyroscope":[-0.0021305286791175604,-0.0031957929022610188,-0.0053263213485479355],"accelerometer":[-0.3357867896556854,0.11761515587568283,9.75936508178711],"rpy":[0.00592368608340621,0.037110455334186554,0.23134882748126984],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014376808889210224,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008289583027362823,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026601791381836,"velocity_rad_s":0.00211828900501132,"acceleration_raw":0.0,"estimated_torque_nm":6.690971851348877,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010243131779134274,"velocity_rad_s":-0.0018416712991893291,"acceleration_raw":0.0,"estimated_torque_nm":-0.6333352327346802,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559432029724121,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852575480937958,"velocity_rad_s":1.163232809631154e-05,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028336853720247746,"velocity_rad_s":-0.0018510684603825212,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007015546318143606,"velocity_rad_s":-0.0019340149592608213,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215327247977257,"velocity_rad_s":0.002448266837745905,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2698248326778412,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16489095985889435,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.262406587600708,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07939549535512924,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.6937500238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787255275456,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809341,"imu":{"quaternion":[0.9931493997573853,0.0007967720157466829,0.01875808648765087,0.11533372104167938],"gyroscope":[-0.0053263213485479355,-0.0063915858045220375,-0.010652642697095871],"accelerometer":[-0.3959411084651947,0.05386953800916672,9.778219223022461],"rpy":[0.005913606844842434,0.03708387166261673,0.23133252561092377],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014376808889210224,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008289583027362823,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026598811149597,"velocity_rad_s":0.002639508806169033,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01025762502104044,"velocity_rad_s":-0.006477569229900837,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852534353733063,"velocity_rad_s":0.0021033722441643476,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002840879838913679,"velocity_rad_s":0.005535865668207407,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009535029530525208,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007015569601207972,"velocity_rad_s":-0.007715474348515272,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022196266800165176,"velocity_rad_s":-0.007285949308425188,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26981285214424133,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1649029403924942,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2624305784702301,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0794074758887291,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787257751488,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809342,"imu":{"quaternion":[0.9931499361991882,0.0007943016826175153,0.018748972564935684,0.11533057689666748],"gyroscope":[-0.0074568502604961395,-0.010652642697095871,-0.0074568502604961395],"accelerometer":[-0.4291606545448303,0.1149216815829277,9.741408348083496],"rpy":[0.005906471982598305,0.03706635534763336,0.23132596909999847],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34431901574134827,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014402374625205994,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008289583027362823,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027019023895264,"velocity_rad_s":-0.000536696461495012,"acceleration_raw":0.0,"estimated_torque_nm":6.639641284942627,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235857218503952,"velocity_rad_s":-0.00464301323518157,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848951578140259,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852534353733063,"velocity_rad_s":-0.0010458698961883783,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002840879838913679,"velocity_rad_s":-0.003693467006087303,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009494854137301445,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007008009124547243,"velocity_rad_s":-0.008694980293512344,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221059426665306,"velocity_rad_s":0.004307587165385485,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07856857776641846,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2697888910770416,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1649269014596939,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2624305784702301,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07941946387290955,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787259366656,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809343,"imu":{"quaternion":[0.9931499361991882,0.0007943016826175153,0.018748972564935684,0.11533057689666748],"gyroscope":[-0.0074568502604961395,-0.010652642697095871,-0.0074568502604961395],"accelerometer":[-0.4291606545448303,0.1149216815829277,9.741408348083496],"rpy":[0.005906471982598305,0.03706635534763336,0.23132596909999847],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014402374625205994,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008302975445985794,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026187539100647,"velocity_rad_s":0.0031681533437222242,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250406339764595,"velocity_rad_s":-0.0074019297026097775,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852492034435272,"velocity_rad_s":-0.0005287511157803237,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028336176183074713,"velocity_rad_s":-0.000921199272852391,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009535029530525208,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007030632812529802,"velocity_rad_s":0.004828420467674732,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215262055397034,"velocity_rad_s":-0.0006309832679107785,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2697409391403198,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1649508774280548,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2624305784702301,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0794314444065094,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787261603872,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809344,"imu":{"quaternion":[0.9931506514549255,0.0007880302146077156,0.018733907490968704,0.11532749235630035],"gyroscope":[-0.0063915858045220375,-0.0053263213485479355,-0.0021305286791175604],"accelerometer":[-0.47225627303123474,0.1041477769613266,9.78719711303711],"rpy":[0.005890407133847475,0.037037886679172516,0.23131932318210602],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443105220794678,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0144108971580863,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008289583027362823,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027019023895264,"velocity_rad_s":-0.0016063773073256016,"acceleration_raw":0.0,"estimated_torque_nm":6.639641284942627,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010235857218503952,"velocity_rad_s":-0.012073270045220852,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848951578140259,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852451801300049,"velocity_rad_s":0.004770392552018166,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028552692383527756,"velocity_rad_s":0.006439724937081337,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":0.0019325446337461472,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":-0.001228337176144123,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0785565972328186,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26972895860671997,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1649508774280548,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2624785006046295,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07944343239068985,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787263217696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809345,"imu":{"quaternion":[0.9931507110595703,0.0007867675158195198,0.018729351460933685,0.11532749235630035],"gyroscope":[-0.004261057358235121,-0.0021305286791175604,-0.0010652643395587802],"accelerometer":[-0.46148237586021423,0.1346738487482071,9.740509986877441],"rpy":[0.0058868443593382835,0.03702912852168083,0.23131920397281647],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443105220794678,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014444985426962376,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00831636693328619,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026187539100647,"velocity_rad_s":0.0031792898662388325,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250406339764595,"velocity_rad_s":-0.001834622584283352,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01375469472259283,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852534353733063,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002840879838913679,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700045982375741,"velocity_rad_s":-0.006762435659766197,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221539244055748,"velocity_rad_s":0.0030792499892413616,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26970499753952026,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16498683393001556,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26244255900382996,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0794554129242897,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787265681536,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809346,"imu":{"quaternion":[0.9931507110595703,0.0007867675158195198,0.018729351460933685,0.11532749235630035],"gyroscope":[-0.004261057358235121,-0.0021305286791175604,-0.0010652643395587802],"accelerometer":[-0.46148237586021423,0.1346738487482071,9.740509986877441],"rpy":[0.0058868443593382835,0.03702912852168083,0.23131920397281647],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014436463825404644,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008289583027362823,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31027016043663025,"velocity_rad_s":-0.0010585441486909986,"acceleration_raw":0.0,"estimated_torque_nm":6.639641284942627,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250350460410118,"velocity_rad_s":-0.0018629501573741436,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848951578140259,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852534353733063,"velocity_rad_s":-0.0005287511157803237,"acceleration_raw":0.0,"estimated_torque_nm":3.41703462600708,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002840879838913679,"velocity_rad_s":-0.000921199272852391,"acceleration_raw":0.0,"estimated_torque_nm":1.1609357595443726,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009535029530525208,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00699292216449976,"velocity_rad_s":-0.0028988169506192207,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022210661321878433,"velocity_rad_s":0.0018425056478008628,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2696930170059204,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16499881446361542,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2624545395374298,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0794554129242897,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787268257600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809347,"imu":{"quaternion":[0.9931504130363464,0.0007880193297751248,0.018726665526628494,0.11533006280660629],"gyroscope":[0.0010652643395587802,0.0010652643395587802,0.004261057358235121],"accelerometer":[-0.4165911078453064,0.08798690885305405,9.92905330657959],"rpy":[0.00588880805298686,0.03702348470687866,0.23132437467575073],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014444985426962376,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00831636693328619,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026601791381836,"velocity_rad_s":-0.0026580700650811195,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010243131779134274,"velocity_rad_s":-0.0028012755792587996,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852451801300049,"velocity_rad_s":0.0015862532891333103,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028552692383527756,"velocity_rad_s":0.002763597760349512,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00699292216449976,"velocity_rad_s":-0.009658311493694782,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022210661321878433,"velocity_rad_s":0.0024818964302539825,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2696690261363983,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16503477096557617,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2624785006046295,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07944343239068985,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787268885952,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809348,"imu":{"quaternion":[0.9931500554084778,0.0007886994280852377,0.018724482506513596,0.11533371359109879],"gyroscope":[-0.0,0.0021305286791175604,0.0063915858045220375],"accelerometer":[-0.4596867263317108,0.10055647045373917,9.815927505493164],"rpy":[0.00588979059830308,0.037018969655036926,0.2313317358493805],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014444985426962376,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00832975935190916,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026187539100647,"velocity_rad_s":0.004244002513587475,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250406339764595,"velocity_rad_s":2.8195356208016165e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852534353733063,"velocity_rad_s":-0.0026437556371092796,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002840879838913679,"velocity_rad_s":-0.004605996422469616,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007008009124547243,"velocity_rad_s":-1.470428287575487e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221059426665306,"velocity_rad_s":0.0012199297780171037,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0785565972328186,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2696450650691986,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16508270800113678,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2624785006046295,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07944343239068985,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787271080416,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809349,"imu":{"quaternion":[0.9931495785713196,0.0007870299741625786,0.018717719241976738,0.11533896625041962],"gyroscope":[-0.0053263213485479355,-0.0,0.0031957929022610188],"accelerometer":[-0.42287588119506836,0.08888474106788635,9.726144790649414],"rpy":[0.005885103717446327,0.03700588271021843,0.231342151761055],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34433606266975403,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014487596228718758,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008343150839209557,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026598811149597,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01025762502104044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852492034435272,"velocity_rad_s":-0.0021033722441643476,"acceleration_raw":0.0,"estimated_torque_nm":3.41703462600708,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028336176183074713,"velocity_rad_s":-0.005535865668207407,"acceleration_raw":0.0,"estimated_torque_nm":1.1609357595443726,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009508245624601841,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00699292216449976,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022210661321878433,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0785565972328186,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2696211040019989,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16508270800113678,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26249048113822937,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07946740090847015,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787273046720,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809350,"imu":{"quaternion":[0.9931495785713196,0.0007870299741625786,0.018717719241976738,0.11533896625041962],"gyroscope":[-0.0053263213485479355,-0.0,0.0031957929022610188],"accelerometer":[-0.42287588119506836,0.08888474106788635,9.726144790649414],"rpy":[0.005885103717446327,0.03700588271021843,0.231342151761055],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014462029561400414,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00832975935190916,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026598811149597,"velocity_rad_s":0.0005286442465148866,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01025762502104044,"velocity_rad_s":-0.000924360123462975,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01375469472259283,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852492928504944,"velocity_rad_s":-0.0021033722441643476,"acceleration_raw":0.0,"estimated_torque_nm":3.41703462600708,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028480745386332273,"velocity_rad_s":-0.005535865668207407,"acceleration_raw":0.0,"estimated_torque_nm":1.1609357595443726,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700045982375741,"velocity_rad_s":-0.007727237418293953,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221539244055748,"velocity_rad_s":0.0024734889157116413,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005680522881448269,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07856857776641846,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26963308453559875,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1651306450366974,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26249048113822937,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0794554129242897,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787274978176,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809351,"imu":{"quaternion":[0.9931496381759644,0.0007866816595196724,0.018713898956775665,0.11533894389867783],"gyroscope":[-0.0021305286791175604,-0.0010652643395587802,-0.0010652643395587802],"accelerometer":[-0.449810653924942,0.08888474106788635,9.744999885559082],"rpy":[0.0058835274539887905,0.03699837625026703,0.23134203255176544],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443445861339569,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014487596228718758,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00831636693328619,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026187539100647,"velocity_rad_s":0.0005063711432740092,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250406339764595,"velocity_rad_s":-0.012058974243700504,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013746172189712524,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524938225746155,"velocity_rad_s":-0.0032423005905002356,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002862531691789627,"velocity_rad_s":0.005579215474426746,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009508245624601841,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00699292216449976,"velocity_rad_s":-0.010620173066854477,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022210661321878433,"velocity_rad_s":-0.0005637241993099451,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07856857776641846,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26958513259887695,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1651546061038971,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625144422054291,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07946740090847015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787276891040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809352,"imu":{"quaternion":[0.9931498765945435,0.0007850309484638274,0.01871160790324211,0.11533735692501068],"gyroscope":[-0.004261057358235121,0.0021305286791175604,-0.004261057358235121],"accelerometer":[-0.4767454266548157,0.0942716896533966,9.684844970703125],"rpy":[0.005879657808691263,0.03699421510100365,0.2313387542963028],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014487596228718758,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008356543257832527,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026601791381836,"velocity_rad_s":-0.002661782316863537,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010243131779134274,"velocity_rad_s":-0.004657045006752014,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013737649656832218,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852492928504944,"velocity_rad_s":-0.0005287511157803237,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028480745386332273,"velocity_rad_s":-0.000921199272852391,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009494854137301445,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985384970903397,"velocity_rad_s":-0.009656840935349464,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022205928340554237,"velocity_rad_s":0.001261966535821557,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07856857776641846,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2695731520652771,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16521452367305756,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625144422054291,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07946740090847015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787279112288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809353,"imu":{"quaternion":[0.9931503534317017,0.0007827605004422367,0.018709342926740646,0.11533314734697342],"gyroscope":[-0.0053263213485479355,0.0021305286791175604,-0.009587379172444344],"accelerometer":[-0.5081692934036255,0.09696517139673233,9.621099472045898],"rpy":[0.005874464754015207,0.03699025884270668,0.23133015632629395],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014496118761599064,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008343150839209557,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026187539100647,"velocity_rad_s":-1.48488588820328e-05,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010250406339764595,"velocity_rad_s":-0.0074230763129889965,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013746172189712524,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852492928504944,"velocity_rad_s":0.0021382691338658333,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028480745386332273,"velocity_rad_s":-1.734002034936566e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009535029530525208,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985384970903397,"velocity_rad_s":-0.011584974825382233,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022205928340554237,"velocity_rad_s":-0.001169485622085631,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07856857776641846,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2695731520652771,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16526246070861816,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625144422054291,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07946740090847015,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787281971136,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809354,"imu":{"quaternion":[0.9931508302688599,0.0007777885184623301,0.01870736852288246,0.11532954126596451],"gyroscope":[-0.010652642697095871,0.0031957929022610188,-0.008522114716470242],"accelerometer":[-0.5081692934036255,0.09696517139673233,9.621099472045898],"rpy":[0.005863991100341082,0.036987509578466415,0.23132267594337463],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01453020703047514,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00832975935190916,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026601791381836,"velocity_rad_s":0.0010313030797988176,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010243131779134274,"velocity_rad_s":-0.014839104376733303,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559091091156006,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524500131607056,"velocity_rad_s":0.0021847982425242662,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028263551648706198,"velocity_rad_s":-0.00742161413654685,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009508245624601841,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985373329371214,"velocity_rad_s":-0.015447123907506466,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215459495782852,"velocity_rad_s":-0.001152670942246914,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07856857776641846,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26956117153167725,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16528643667697906,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625264525413513,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07949136942625046,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787282612320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809355,"imu":{"quaternion":[0.9931510090827942,0.0007744282484054565,0.018706027418375015,0.11532801389694214],"gyroscope":[-0.0074568502604961395,0.004261057358235121,-0.004261057358235121],"accelerometer":[-0.3618237376213074,0.114023856818676,9.638157844543457],"rpy":[0.005856945179402828,0.036985620856285095,0.23131944239139557],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014547251164913177,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00832975935190916,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31026601791381836,"velocity_rad_s":-0.002140562515705824,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010243131779134274,"velocity_rad_s":-0.00929294340312481,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852492928504944,"velocity_rad_s":-0.006333380937576294,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028480745386332273,"velocity_rad_s":-0.012905459851026535,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009494854137301445,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00699292216449976,"velocity_rad_s":-0.005791752133518457,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022210661321878433,"velocity_rad_s":-0.0011947077000513673,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07856857776641846,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26953721046447754,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16529841721057892,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625264525413513,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07947938144207001,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787284561664,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809356,"imu":{"quaternion":[0.993151068687439,0.000772358791437,0.018703622743487358,0.11532855778932571],"gyroscope":[-0.0053263213485479355,0.0021305286791175604,-0.0],"accelerometer":[-0.3214215636253357,0.1355716735124588,9.729736328125],"rpy":[0.0058522955514490604,0.03698132559657097,0.23132045567035675],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014538728632032871,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008343150839209557,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102577030658722,"velocity_rad_s":-0.0015822204295545816,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010257680900394917,"velocity_rad_s":0.0046288492158055305,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852660119533539,"velocity_rad_s":-0.009564049541950226,"acceleration_raw":0.0,"estimated_torque_nm":3.147578239440918,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028482279740273952,"velocity_rad_s":-0.009177313186228275,"acceleration_raw":0.0,"estimated_torque_nm":1.107448697090149,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009494854137301445,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":0.0009648018749430776,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":0.0006057611899450421,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0785565972328186,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26951324939727783,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16533437371253967,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625264525413513,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07947938144207001,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787286437472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809357,"imu":{"quaternion":[0.9931508898735046,0.0007716136751696467,0.01869971491396427,0.11533012986183167],"gyroscope":[-0.0031957929022610188,-0.0010652643395587802,0.0021305286791175604],"accelerometer":[-0.38157588243484497,0.14993688464164734,9.692925453186035],"rpy":[0.005849970504641533,0.03697372227907181,0.23132352530956268],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34432753920555115,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014555772766470909,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008343150839209557,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102618455886841,"velocity_rad_s":-0.00423657801002264,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010264899581670761,"velocity_rad_s":0.0036833425983786583,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01375469472259283,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525784611701965,"velocity_rad_s":-0.00856470875442028,"acceleration_raw":0.0,"estimated_torque_nm":3.147578239440918,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028770742937922478,"velocity_rad_s":0.001920428709127009,"acceleration_raw":0.0,"estimated_torque_nm":1.107448697090149,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007008009124547243,"velocity_rad_s":-0.0009648018749430776,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221059426665306,"velocity_rad_s":-0.0006057611899450421,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07854460924863815,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26948925852775574,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16535833477973938,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.262550413608551,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07949136942625046,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787288593824,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809375,"imu":{"quaternion":[0.9931455850601196,0.0007882540812715888,0.01866685040295124,0.11538171023130417],"gyroscope":[0.0010652643395587802,0.0021305286791175604,0.010652642697095871],"accelerometer":[-0.37080198526382446,0.09606734663248062,9.69741439819336],"rpy":[0.005877363495528698,0.03690427541732788,0.23142758011817932],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34437015652656555,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014709170907735825,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31021198630332947,"velocity_rad_s":0.0026432210579514503,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010323241353034973,"velocity_rad_s":-0.004621800500899553,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35591763257980347,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852746248245239,"velocity_rad_s":0.003736154641956091,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002891666954383254,"velocity_rad_s":0.0008951892959885299,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985373329371214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215459495782852,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.078508660197258,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07935953885316849,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26910579204559326,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16581374406814575,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625623941421509,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07955128699541092,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787290465600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809376,"imu":{"quaternion":[0.9931449890136719,0.0007873508147895336,0.018658321350812912,0.11538795381784439],"gyroscope":[-0.004261057358235121,-0.0031957929022610188,0.0021305286791175604],"accelerometer":[-0.3555389642715454,0.021547814831137657,9.734225273132324],"rpy":[0.005873827263712883,0.03688750043511391,0.2314399927854538],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443872034549713,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01471769344061613,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102036714553833,"velocity_rad_s":0.002650645561516285,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010337789542973042,"velocity_rad_s":-0.000910262344405055,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28527894616127014,"velocity_rad_s":-0.0005403834511525929,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029133863281458616,"velocity_rad_s":0.0009298692457377911,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006992910988628864,"velocity_rad_s":-0.006753613241016865,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0222201906144619,"velocity_rad_s":-0.004240328446030617,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.078508660197258,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2691177725791931,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1658257246017456,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07955128699541092,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787292075776,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809377,"imu":{"quaternion":[0.9931449890136719,0.0007873508147895336,0.018658321350812912,0.11538795381784439],"gyroscope":[-0.004261057358235121,-0.0031957929022610188,0.0021305286791175604],"accelerometer":[-0.3555389642715454,0.021547814831137657,9.734225273132324],"rpy":[0.005873827263712883,0.03688750043511391,0.2314399927854538],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34437867999076843,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014726215042173862,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3101953864097595,"velocity_rad_s":0.006898360326886177,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010337845422327518,"velocity_rad_s":0.000973702350165695,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559432029724121,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":-0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009427894838154316,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006970287766307592,"velocity_rad_s":-0.015447123907506466,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215524688363075,"velocity_rad_s":-0.001152670942246914,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07849667221307755,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.269093781709671,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16586168110370636,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07956327497959137,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787295777376,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809378,"imu":{"quaternion":[0.9931448698043823,0.0007851687842048705,0.018652131780982018,0.11539006233215332],"gyroscope":[-0.0053263213485479355,-0.0053263213485479355,0.0031957929022610188],"accelerometer":[-0.3555389642715454,0.021547814831137657,9.734225273132324],"rpy":[0.005868136417120695,0.03687569126486778,0.2314440757036209],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443957269191742,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014726215042173862,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008356543257832527,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102036714553833,"velocity_rad_s":0.004229153972119093,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010337789542973042,"velocity_rad_s":-0.0073948809877038,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852705121040344,"velocity_rad_s":-0.003701257985085249,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028988614212721586,"velocity_rad_s":-0.00644839508458972,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985363084822893,"velocity_rad_s":-0.0019340149592608213,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022224988788366318,"velocity_rad_s":0.002448266837745905,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26908180117607117,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1658736616373062,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07955128699541092,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787296428320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809379,"imu":{"quaternion":[0.9931448698043823,0.0007823670748621225,0.01864628680050373,0.11539115011692047],"gyroscope":[-0.0063915858045220375,-0.004261057358235121,0.0010652643395587802],"accelerometer":[-0.29807811975479126,0.03411737456917763,9.671378135681152],"rpy":[0.005861255340278149,0.03686472028493881,0.23144608736038208],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444042503833771,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014751781709492207,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008356543257832527,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.310199499130249,"velocity_rad_s":0.0031867141369730234,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010345064103603363,"velocity_rad_s":0.0018769155722111464,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355951726436615,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28527894616127014,"velocity_rad_s":-0.005874423775821924,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029133863281458616,"velocity_rad_s":-0.0008778490009717643,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006962750572711229,"velocity_rad_s":-0.009645077399909496,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221079170703888,"velocity_rad_s":-0.008497470989823341,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2690458595752716,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16594555974006653,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07955128699541092,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787298302528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809380,"imu":{"quaternion":[0.9931445717811584,0.0007804963388480246,0.018642134964466095,0.11539376527070999],"gyroscope":[-0.004261057358235121,-0.0010652643395587802,0.004261057358235121],"accelerometer":[-0.40222588181495667,0.055665191262960434,9.695618629455566],"rpy":[0.00585667509585619,0.03685688599944115,0.23145121335983276],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443957269191742,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014760304242372513,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31019121408462524,"velocity_rad_s":0.0021220012567937374,"acceleration_raw":0.0,"estimated_torque_nm":6.419539928436279,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010345119051635265,"velocity_rad_s":1.4097678104008082e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.5811297297477722,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013797304593026638,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28528308868408203,"velocity_rad_s":-0.002115004463121295,"acceleration_raw":0.0,"estimated_torque_nm":2.9682207107543945,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029061916284263134,"velocity_rad_s":-0.003684797091409564,"acceleration_raw":0.0,"estimated_torque_nm":1.1063216924667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700045982375741,"velocity_rad_s":-0.0019163700053468347,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221539244055748,"velocity_rad_s":-0.01219089049845934,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07848469167947769,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2690458595752716,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16598151624202728,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07956327497959137,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787299893248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809381,"imu":{"quaternion":[0.9931443929672241,0.0007795302080921829,0.018639523535966873,0.11539584398269653],"gyroscope":[-0.0021305286791175604,0.0021305286791175604,0.0031957929022610188],"accelerometer":[-0.23702596127986908,0.0727238729596138,9.75397777557373],"rpy":[0.005854226648807526,0.0368519090116024,0.23145531117916107],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443872034549713,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014760304242372513,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008356543257832527,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31019121408462524,"velocity_rad_s":0.001585932681336999,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010345119051635265,"velocity_rad_s":-0.0027730802539736032,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013797304593026638,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032038331031799,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":-0.0026204909663647413,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":-0.008308133110404015,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006970276590436697,"velocity_rad_s":-0.01640898361802101,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02222505398094654,"velocity_rad_s":-0.004198291338980198,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07848469167947769,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2689979076385498,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16600549221038818,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07956327497959137,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787302159456,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809382,"imu":{"quaternion":[0.9931440353393555,0.0007798432488925755,0.018635926768183708,0.11539947986602783],"gyroscope":[-0.0,-0.0,0.0063915858045220375],"accelerometer":[-0.3447650372982025,0.09516951441764832,9.673172950744629],"rpy":[0.005854152143001556,0.03684466704726219,0.23146259784698486],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34441277384757996,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01480291411280632,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008356543257832527,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.310199499130249,"velocity_rad_s":0.0026543578132987022,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010345064103603363,"velocity_rad_s":0.0009455065592192113,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559432029724121,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032038331031799,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28527894616127014,"velocity_rad_s":-0.0037128899712115526,"acceleration_raw":0.0,"estimated_torque_nm":2.9682207107543945,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029133863281458616,"velocity_rad_s":-0.004597326274961233,"acceleration_raw":0.0,"estimated_torque_nm":1.1063216924667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006992910988628864,"velocity_rad_s":0.00482989102602005,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0222201906144619,"velocity_rad_s":-0.0018509130459278822,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07848469167947769,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2689979076385498,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16601747274398804,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07956327497959137,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787303744480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809383,"imu":{"quaternion":[0.9931434988975525,0.0007819585152901709,0.01863141730427742,0.1154046580195427],"gyroscope":[0.0031957929022610188,-0.0021305286791175604,0.009587379172444344],"accelerometer":[-0.3447650372982025,0.09516951441764832,9.673172950744629],"rpy":[0.005857505369931459,0.036835189908742905,0.23147304356098175],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34441277384757996,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01480291411280632,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31018707156181335,"velocity_rad_s":0.006902072578668594,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010352393612265587,"velocity_rad_s":0.002829470904543996,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":-0.002585593843832612,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":-0.0138613386079669,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009441286325454712,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985363084822893,"velocity_rad_s":-0.0019325446337461472,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022224988788366318,"velocity_rad_s":0.001228337176144123,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764986634254456,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26896196603775024,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16606540977954865,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07955128699541092,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.706250011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787305879456,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809384,"imu":{"quaternion":[0.9931434988975525,0.0007819585152901709,0.01863141730427742,0.1154046580195427],"gyroscope":[0.0031957929022610188,-0.0021305286791175604,0.009587379172444344],"accelerometer":[-0.3447650372982025,0.09516951441764832,9.673172950744629],"rpy":[0.005857505369931459,0.036835189908742905,0.23147304356098175],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34441277384757996,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014811436645686626,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31019118428230286,"velocity_rad_s":0.007434429135173559,"acceleration_raw":0.0,"estimated_torque_nm":6.419539928436279,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010359613224864006,"velocity_rad_s":0.0037608803249895573,"acceleration_raw":0.0,"estimated_torque_nm":-0.5811297297477722,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032038331031799,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":-0.002539064735174179,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":-0.021265612915158272,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009427894838154316,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700045982375741,"velocity_rad_s":0.009652430191636086,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221539244055748,"velocity_rad_s":0.002397822914645076,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07847270369529724,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2689499855041504,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1661013662815094,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07956327497959137,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787308563936,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809385,"imu":{"quaternion":[0.9931423664093018,0.0007870894041843712,0.01862424612045288,0.11541657894849777],"gyroscope":[0.004261057358235121,0.0010652643395587802,0.009587379172444344],"accelerometer":[-0.4462193548679352,0.02603694424033165,9.678560256958008],"rpy":[0.005866485182195902,0.036819688975811005,0.2314971685409546],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444298207759857,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014811436645686626,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31019115447998047,"velocity_rad_s":0.006920633837580681,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010374106466770172,"velocity_rad_s":0.012108316645026207,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852705121040344,"velocity_rad_s":-0.0046308040618896484,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028988614212721586,"velocity_rad_s":-0.028652546927332878,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009427894838154316,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000448647886515,"velocity_rad_s":0.011586444452404976,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022224923595786095,"velocity_rad_s":-5.0444210501154885e-05,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2689260244369507,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16611334681510925,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625863552093506,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07956327497959137,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787311115936,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809386,"imu":{"quaternion":[0.9931421279907227,0.0007876913878135383,0.018622342497110367,0.11541860550642014],"gyroscope":[0.0010652643395587802,0.0031957929022610188,0.0031957929022610188],"accelerometer":[-0.37888240814208984,0.0314238965511322,9.810541152954102],"rpy":[0.0058673168532550335,0.03681575134396553,0.2315012365579605],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444468677043915,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014828480780124664,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31018704175949097,"velocity_rad_s":0.0063771409913897514,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010366887785494328,"velocity_rad_s":0.005609600804746151,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355951726436615,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":-0.0031143452506512403,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":-0.014782538637518883,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009427894838154316,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985373329371214,"velocity_rad_s":0.0019340149592608213,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215459495782852,"velocity_rad_s":-0.002448266837745905,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2689260244369507,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1661253273487091,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26257437467575073,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787311742464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809387,"imu":{"quaternion":[0.9931420087814331,0.0007875362643972039,0.018621396273374557,0.11541959643363953],"gyroscope":[-0.0,0.0053263213485479355,0.0010652643395587802],"accelerometer":[-0.3555389642715454,-0.022445641458034515,9.790788650512695],"rpy":[0.005866826977580786,0.03681390359997749,0.2315032035112381],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444298207759857,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014845524914562702,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3101787269115448,"velocity_rad_s":0.010639704763889313,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010381454601883888,"velocity_rad_s":0.014916641637682915,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355951726436615,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":-0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009414502419531345,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007007985841482878,"velocity_rad_s":0.005788811016827822,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02222965657711029,"velocity_rad_s":0.003634567139670253,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26889005303382874,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16613730788230896,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625863552093506,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787314153568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809387,"imu":{"quaternion":[0.9931420087814331,0.0007875362643972039,0.018621396273374557,0.11541959643363953],"gyroscope":[-0.0,0.0053263213485479355,0.0010652643395587802],"accelerometer":[-0.3555389642715454,-0.022445641458034515,9.790788650512695],"rpy":[0.005866826977580786,0.03681390359997749,0.2315032035112381],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34442129731178284,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01486256904900074,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3101745545864105,"velocity_rad_s":0.0063771409913897514,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01038872916251421,"velocity_rad_s":0.005609600804746151,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35593467950820923,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28527894616127014,"velocity_rad_s":-0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":2.9682207107543945,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029133863281458616,"velocity_rad_s":0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.1063216924667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985373329371214,"velocity_rad_s":-0.010612821206450462,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215459495782852,"velocity_rad_s":-0.006663373205810785,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2688780725002289,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16620922088623047,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625863552093506,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787316040960,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809388,"imu":{"quaternion":[0.9931409955024719,0.0007879086770117283,0.01862272061407566,0.11542846262454987],"gyroscope":[0.0021305286791175604,0.009587379172444344,0.008522114716470242],"accelerometer":[-0.43095630407333374,-0.027832595631480217,9.754875183105469],"rpy":[0.005868201609700918,0.036816395819187164,0.2315211147069931],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444383442401886,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014871091581881046,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3101828694343567,"velocity_rad_s":0.0026543578132987022,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010374180041253567,"velocity_rad_s":0.0009455065592192113,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35592615604400635,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":0.0021033722441643476,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":0.005535865668207407,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00699292216449976,"velocity_rad_s":-0.0038445035461336374,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022210661321878433,"velocity_rad_s":-0.014622342772781849,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26889005303382874,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16620922088623047,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625863552093506,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787317629984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809389,"imu":{"quaternion":[0.993140697479248,0.0007870018016546965,0.0186227448284626,0.1154310554265976],"gyroscope":[-0.0010652643395587802,0.0074568502604961395,0.004261057358235121],"accelerometer":[-0.3869628608226776,0.02693476900458336,9.854534149169922],"rpy":[0.005866500549018383,0.03681664168834686,0.23152631521224976],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444383442401886,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014888135716319084,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3101745545864105,"velocity_rad_s":0.009016649797558784,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01038872916251421,"velocity_rad_s":-0.000867969763930887,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596024990081787,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":0.0010458698961883783,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":0.003693467006087303,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006992910988628864,"velocity_rad_s":0.0029046989511698484,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0222201906144619,"velocity_rad_s":-0.006722224876284599,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07843675464391708,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26886609196662903,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16625715792179108,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26259833574295044,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07956327497959137,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787319902240,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809390,"imu":{"quaternion":[0.993140697479248,0.0007870018016546965,0.0186227448284626,0.1154310554265976],"gyroscope":[-0.0010652643395587802,0.0074568502604961395,0.004261057358235121],"accelerometer":[-0.3869628608226776,0.02693476900458336,9.854534149169922],"rpy":[0.005866500549018383,0.03681664168834686,0.23152631521224976],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444383442401886,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014913702383637428,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31016626954078674,"velocity_rad_s":0.010085075162351131,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010388784110546112,"velocity_rad_s":0.0028506179805845022,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355951726436615,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032038331031799,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":0.0031841390300542116,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":0.003676127176731825,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000448647886515,"velocity_rad_s":-0.0009648018749430776,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022224923595786095,"velocity_rad_s":-0.0006057611899450421,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2688541114330292,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16625715792179108,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2625863552093506,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787308098272,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":24064,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 163, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 410, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 264, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 6832331, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":163,"normal_force2":0,"normal_force3":0,"self_proximity1":6832331,"self_proximity2":0,"status":13312,"tangential_direction1":264,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":410,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 70, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 42, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 289, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 5569775, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":70,"normal_force2":0,"normal_force3":0,"self_proximity1":5569775,"self_proximity2":0,"status":11520,"tangential_direction1":289,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":42,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 31, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 20, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 277, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 3568479, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":31,"normal_force2":0,"normal_force3":0,"self_proximity1":3568479,"self_proximity2":0,"status":11520,"tangential_direction1":277,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":20,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 55, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 8, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 294, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 4407120, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":55,"normal_force2":0,"normal_force3":0,"self_proximity1":4407120,"self_proximity2":0,"status":23808,"tangential_direction1":294,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":8,"tangential_force2":0,"tangential_force3":0}],"touch_metric":410.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":787321952768,"stream":"brainco.motor","data":{"currents":[10,-100,18,2,-20,2],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [10, -100, 18, 2, -20, 2],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":787322421888,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":410.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.04006518454218107}} +{"timestamp_monotonic_ns":787323828000,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809391,"imu":{"quaternion":[0.9931406378746033,0.0007843719213269651,0.018623078241944313,0.11543160676956177],"gyroscope":[-0.004261057358235121,0.008522114716470242,-0.0],"accelerometer":[-0.34925416111946106,0.014365210197865963,9.736021041870117],"rpy":[0.005861371755599976,0.03681790828704834,0.23152732849121094],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444468677043915,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014913702383637428,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314035058021545,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31016209721565247,"velocity_rad_s":0.003715358441695571,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0104105519130826,"velocity_rad_s":0.0009525555069558322,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559432029724121,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28528720140457153,"velocity_rad_s":-0.0005287511157803237,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002898996928706765,"velocity_rad_s":-0.000921199272852391,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985363084822893,"velocity_rad_s":-4.411284862726461e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022224988788366318,"velocity_rad_s":0.003659789217635989,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07846072316169739,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26883015036582947,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16625715792179108,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26259833574295044,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787324490912,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809392,"imu":{"quaternion":[0.993139922618866,0.0007792636752128601,0.018623029813170433,0.11543689668178558],"gyroscope":[-0.0021305286791175604,0.008522114716470242,0.0063915858045220375],"accelerometer":[-0.2908954918384552,0.008080430328845978,9.754875183105469],"rpy":[0.005851404275745153,0.03681895509362221,0.23153777420520782],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014913702383637428,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31017041206359863,"velocity_rad_s":0.00211828900501132,"acceleration_raw":0.0,"estimated_torque_nm":6.510246276855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010396002791821957,"velocity_rad_s":-0.0018416712991893291,"acceleration_raw":0.0,"estimated_torque_nm":-0.6329737305641174,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596024990081787,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":0.002173166023567319,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":-0.005570545792579651,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0069929007440805435,"velocity_rad_s":-0.010623114183545113,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022229721769690514,"velocity_rad_s":0.0018761352403089404,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07843675464391708,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26883015036582947,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16628111898899078,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26259833574295044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787326363744,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809411,"imu":{"quaternion":[0.9931325912475586,0.0007840770995244384,0.018595512956380844,0.11550530791282654],"gyroscope":[0.0031957929022610188,0.0010652643395587802,0.008522114716470242],"accelerometer":[-0.34925416111946106,0.029628245159983635,9.63995361328125],"rpy":[0.00585713516920805,0.036762770265340805,0.2316754013299942],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01510118879377842,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100956380367279,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010483496822416782,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":0.0053805699571967125,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":-0.005596555769443512,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009186840616166592,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007007985841482878,"velocity_rad_s":-0.0009736242354847491,"acceleration_raw":0.0,"estimated_torque_nm":-1.6578928232192993,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02222965657711029,"velocity_rad_s":0.006713817361742258,"acceleration_raw":0.0,"estimated_torque_nm":-4.4816060066223145,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07829294353723526,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2686983048915863,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16683240234851837,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787331608800,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809412,"imu":{"quaternion":[0.9931319952011108,0.0007828106172382832,0.018592972308397293,0.1155100166797638],"gyroscope":[-0.0021305286791175604,0.0031957929022610188,0.008522114716470242],"accelerometer":[-0.42197805643081665,0.035913024097681046,9.646238327026367],"rpy":[0.0058542052283883095,0.03675798326730728,0.23168477416038513],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01510118879377842,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100956380367279,"velocity_rad_s":0.002129425760358572,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010483496822416782,"velocity_rad_s":0.0037256358191370964,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28527894616127014,"velocity_rad_s":0.003782684216275811,"acceleration_raw":0.0,"estimated_torque_nm":2.9682207107543945,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029133863281458616,"velocity_rad_s":-0.006509085185825825,"acceleration_raw":0.0,"estimated_torque_nm":1.1063216924667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009173448197543621,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":0.004824009258300066,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":0.0030288060661405325,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07829294353723526,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2686743438243866,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16686835885047913,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787333651808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809413,"imu":{"quaternion":[0.9931317567825317,0.000781194306910038,0.01859261840581894,0.11551210284233093],"gyroscope":[-0.0021305286791175604,0.0074568502604961395,0.0031957929022610188],"accelerometer":[-0.4067150056362152,-0.005386953707784414,9.614814758300781],"rpy":[0.005850988905876875,0.03675764054059982,0.23168890178203583],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015118232928216457,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100956380367279,"velocity_rad_s":0.001064712880179286,"acceleration_raw":0.0,"estimated_torque_nm":6.6009521484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010483496822416782,"velocity_rad_s":0.0018628179095685482,"acceleration_raw":0.0,"estimated_torque_nm":-0.6848177313804626,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28527894616127014,"velocity_rad_s":0.0027019171975553036,"acceleration_raw":0.0,"estimated_torque_nm":3.0574793815612793,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029133863281458616,"velocity_rad_s":-0.004649346228688955,"acceleration_raw":0.0,"estimated_torque_nm":1.055088758468628,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700045982375741,"velocity_rad_s":0.0019296037498861551,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02221539244055748,"velocity_rad_s":0.0012115223798900843,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07829294353723526,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2686743438243866,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1669043004512787,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787335559744,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809414,"imu":{"quaternion":[0.9931317567825317,0.000781194306910038,0.01859261840581894,0.11551210284233093],"gyroscope":[-0.0021305286791175604,0.0074568502604961395,0.0031957929022610188],"accelerometer":[-0.4067150056362152,-0.005386953707784414,9.614814758300781],"rpy":[0.005850988905876875,0.03675764054059982,0.23168890178203583],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015143798664212227,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31008732318878174,"velocity_rad_s":0.004772646818310022,"acceleration_raw":0.0,"estimated_torque_nm":6.690971851348877,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010498045943677425,"velocity_rad_s":-0.0008961647981777787,"acceleration_raw":0.0,"estimated_torque_nm":-0.6333352327346802,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852747142314911,"velocity_rad_s":0.0015978856245055795,"acceleration_raw":0.0,"estimated_torque_nm":3.146738290786743,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00290612387470901,"velocity_rad_s":0.00091252924175933,"acceleration_raw":0.0,"estimated_torque_nm":1.0038559436798096,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070230839774012566,"velocity_rad_s":0.010624583810567856,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220060229301453,"velocity_rad_s":-0.003096065018326044,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07829294353723526,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26866236329078674,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1669762134552002,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07955128699541092,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787338189504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809415,"imu":{"quaternion":[0.9931315183639526,0.00078050815500319,0.01859348453581333,0.11551417410373688],"gyroscope":[-0.0,0.009587379172444344,0.0031957929022610188],"accelerometer":[-0.3968389332294464,0.011671733111143112,9.729736328125],"rpy":[0.005849901586771011,0.03675951063632965,0.2316930890083313],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015143798664212227,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31007492542266846,"velocity_rad_s":0.006864950060844421,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010476370342075825,"velocity_rad_s":-0.015728218480944633,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852705121040344,"velocity_rad_s":0.004299802705645561,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028988614212721586,"velocity_rad_s":-0.0037368168123066425,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070230839774012566,"velocity_rad_s":0.0019296037498861551,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220060229301453,"velocity_rad_s":0.0012115223798900843,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07826897501945496,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26866236329078674,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1670001745223999,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787340728288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809416,"imu":{"quaternion":[0.9931313395500183,0.000780279457103461,0.018594391644001007,0.1155150830745697],"gyroscope":[-0.0,0.0053263213485479355,0.0010652643395587802],"accelerometer":[-0.39234980940818787,0.03501519933342934,9.655217170715332],"rpy":[0.005849691107869148,0.03676135838031769,0.23169489204883575],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015152321197092533,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31007903814315796,"velocity_rad_s":0.005282730329781771,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01048358902335167,"velocity_rad_s":-0.011099370196461678,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28526628017425537,"velocity_rad_s":0.005920953582972288,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028915992006659508,"velocity_rad_s":-0.006526425015181303,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009119881317019463,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":0.0009633314330130816,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":0.0018256909679621458,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07826897501945496,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26866236329078674,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1670481115579605,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787342466080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809417,"imu":{"quaternion":[0.9931313395500183,0.000780279457103461,0.018594391644001007,0.1155150830745697],"gyroscope":[-0.0,0.0053263213485479355,0.0010652643395587802],"accelerometer":[-0.39234980940818787,0.03501519933342934,9.655217170715332],"rpy":[0.005849691107869148,0.03676135838031769,0.23169489204883575],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015169365331530571,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100666403770447,"velocity_rad_s":0.005803950130939484,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010476425290107727,"velocity_rad_s":-0.015735268592834473,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01375469472259283,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28526628017425537,"velocity_rad_s":0.008576340973377228,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028915992006659508,"velocity_rad_s":-0.0037714974023401737,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009119881317019463,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":0.0009677427588030696,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":-0.0018340983660891652,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07826897501945496,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2686503827571869,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16708406805992126,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787344800096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809418,"imu":{"quaternion":[0.9931312203407288,0.0007783777546137571,0.018591992557048798,0.11551664769649506],"gyroscope":[-0.0031957929022610188,0.0031957929022610188,0.0021305286791175604],"accelerometer":[-0.3941454589366913,0.0008978256373666227,9.673172950744629],"rpy":[0.005845413077622652,0.03675702214241028,0.2316979467868805],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444894850254059,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015177887864410877,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31004589796066284,"velocity_rad_s":0.014831735752522945,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010483809746801853,"velocity_rad_s":-0.01103593036532402,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852620780467987,"velocity_rad_s":0.010127697139978409,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028843367472290993,"velocity_rad_s":0.004545305855572224,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009106488898396492,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007023095618933439,"velocity_rad_s":0.004834302701056004,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022210529074072838,"velocity_rad_s":-0.005510702263563871,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07826897501945496,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2686503827571869,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16712002456188202,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787347399552,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809419,"imu":{"quaternion":[0.9931310415267944,0.0007760592270642519,0.018589003011584282,0.11551875621080399],"gyroscope":[-0.004261057358235121,0.0021305286791175604,0.0031957929022610188],"accelerometer":[-0.3618237376213074,0.048482585698366165,9.690232276916504],"rpy":[0.0058401902206242085,0.03675160929560661,0.23170205950737],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015177887864410877,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100292980670929,"velocity_rad_s":0.015892736613750458,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01048393826931715,"velocity_rad_s":-0.01102888211607933,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852620780467987,"velocity_rad_s":0.009000401012599468,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028843367472290993,"velocity_rad_s":0.013809318654239178,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009093097411096096,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":-0.002894405508413911,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":-0.0018172835698351264,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0782569944858551,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26863840222358704,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16719192266464233,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787348061952,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809420,"imu":{"quaternion":[0.9931309223175049,0.0007762000313960016,0.01858610473573208,0.11552072316408157],"gyroscope":[0.004261057358235121,0.0031957929022610188,-0.0],"accelerometer":[-0.29807811975479126,-0.10145429521799088,9.674968719482422],"rpy":[0.005839871242642403,0.03674580529332161,0.23170599341392517],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444894850254059,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01516084372997284,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100251853466034,"velocity_rad_s":0.01536038052290678,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010476700961589813,"velocity_rad_s":-0.011960291303694248,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002624811604619026,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852620780467987,"velocity_rad_s":0.009012033231556416,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028843367472290993,"velocity_rad_s":0.011958249844610691,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009079704992473125,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000448647886515,"velocity_rad_s":0.008690569549798965,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022224923595786095,"velocity_rad_s":-0.0006477980641648173,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0782569944858551,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26861441135406494,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1672518402338028,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787351096160,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809421,"imu":{"quaternion":[0.9931309223175049,0.0007762000313960016,0.01858610473573208,0.11552072316408157],"gyroscope":[0.004261057358235121,0.0031957929022610188,-0.0],"accelerometer":[-0.29807811975479126,-0.10145429521799088,9.674968719482422],"rpy":[0.005839871242642403,0.03674580529332161,0.23170599341392517],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015186409465968609,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100292980670929,"velocity_rad_s":0.013774448074400425,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010498431511223316,"velocity_rad_s":-0.009187211282551289,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01375469472259283,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525784611701965,"velocity_rad_s":0.01013933029025793,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028770742937922478,"velocity_rad_s":0.0026942382100969553,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009079704992473125,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":0.008696450851857662,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":-0.005527517292648554,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0782330259680748,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2686264216899872,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16726383566856384,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787351736640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809422,"imu":{"quaternion":[0.9931307435035706,0.0007775999838486314,0.018581220880150795,0.11552270501852036],"gyroscope":[0.0031957929022610188,-0.0021305286791175604,0.0031957929022610188],"accelerometer":[-0.29807811975479126,-0.10145429521799088,9.674968719482422],"rpy":[0.005841596517711878,0.036735765635967255,0.23170997202396393],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015177887864410877,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100251257419586,"velocity_rad_s":0.01219593919813633,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010505706071853638,"velocity_rad_s":-0.0027025919407606125,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285258024930954,"velocity_rad_s":0.010586654767394066,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002906006295233965,"velocity_rad_s":0.016572916880249977,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009079704992473125,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":0.0038650892674922943,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":-0.002456674352288246,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0782330259680748,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26861441135406494,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1672997772693634,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787353372064,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809423,"imu":{"quaternion":[0.9931307435035706,0.0007785951602272689,0.0185752771794796,0.11552364379167557],"gyroscope":[0.0021305286791175604,-0.004261057358235121,0.0010652643395587802],"accelerometer":[-0.39234980940818787,0.030526071786880493,9.593266487121582],"rpy":[0.00584223261103034,0.03672372177243233,0.23171180486679077],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34449800848960876,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015186409465968609,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31002095341682434,"velocity_rad_s":0.003183001885190606,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01051298063248396,"velocity_rad_s":2.114651579177007e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525784611701965,"velocity_rad_s":0.008541444316506386,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028770742937922478,"velocity_rad_s":0.0017817085608839989,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00906631350517273,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007015546318143606,"velocity_rad_s":0.012557128444314003,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215327247977257,"velocity_rad_s":-0.004324402194470167,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0782330259680748,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26861441135406494,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.167347714304924,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787355705280,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809424,"imu":{"quaternion":[0.9931306838989258,0.0007762875757180154,0.018570061773061752,0.11552468687295914],"gyroscope":[-0.004261057358235121,-0.0021305286791175604,0.0010652643395587802],"accelerometer":[-0.40043023228645325,-0.0035913025494664907,9.681253433227539],"rpy":[0.005836477503180504,0.03671388328075409,0.23171375691890717],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015203453600406647,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31000855565071106,"velocity_rad_s":0.004780071321874857,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010505798272788525,"velocity_rad_s":0.0028153732419013977,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28526628017425537,"velocity_rad_s":0.0016211502952501178,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028915992006659508,"velocity_rad_s":-0.002789607737213373,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00906631350517273,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007000448647886515,"velocity_rad_s":0.0009662723168730736,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022224923595786095,"velocity_rad_s":-0.0006141685880720615,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07822103798389435,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2686264216899872,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16738367080688477,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787357364832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809425,"imu":{"quaternion":[0.9931306838989258,0.0007746107294224203,0.018568161875009537,0.11552517116069794],"gyroscope":[-0.0021305286791175604,0.004261057358235121,-0.0],"accelerometer":[-0.38067805767059326,-0.042197804898023605,9.667786598205566],"rpy":[0.005832722410559654,0.03671049326658249,0.2317146360874176],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015211976133286953,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31000855565071106,"velocity_rad_s":0.006358579732477665,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010505798272788525,"velocity_rad_s":-0.003669245168566704,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852579355239868,"velocity_rad_s":0.006955190561711788,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002891549374908209,"velocity_rad_s":-0.0009818896651268005,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009039529599249363,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007015535142272711,"velocity_rad_s":0.004831361584365368,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02222485840320587,"velocity_rad_s":-0.0030708429403603077,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0782090574502945,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26859045028686523,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16739565134048462,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787359620352,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809426,"imu":{"quaternion":[0.9931305050849915,0.0007726958720013499,0.018568390980362892,0.11552725732326508],"gyroscope":[-0.0021305286791175604,0.008522114716470242,0.0031957929022610188],"accelerometer":[-0.38067805767059326,-0.042197804898023605,9.667786598205566],"rpy":[0.00582904601469636,0.03671137988567352,0.23171880841255188],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015237542800605297,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100043833255768,"velocity_rad_s":0.007419580593705177,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010513072833418846,"velocity_rad_s":-0.0036621964536607265,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852495610713959,"velocity_rad_s":0.0064148069359362125,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028914816211909056,"velocity_rad_s":-5.2020059229107574e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":-0.003857737174257636,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":-0.003642974654212594,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07818508893251419,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26859045028686523,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16740764677524567,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787361985088,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809427,"imu":{"quaternion":[0.9931298494338989,0.0007732133381068707,0.018571987748146057,0.11553139239549637],"gyroscope":[0.0031957929022610188,0.014913700520992279,0.0074568502604961395],"accelerometer":[-0.2576759457588196,0.07003039866685867,9.732429504394531],"rpy":[0.0058310613967478275,0.03671837970614433,0.23172716796398163],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444894850254059,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01522902026772499,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100043833255768,"velocity_rad_s":0.0015896449331194162,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010513072833418846,"velocity_rad_s":-0.000917311292141676,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852537930011749,"velocity_rad_s":0.0010575022315606475,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002898744074627757,"velocity_rad_s":0.001842398545704782,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700799748301506,"velocity_rad_s":2.940856575150974e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022220125421881676,"velocity_rad_s":-0.0024398595560342073,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07818508893251419,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26861441135406494,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16747954487800598,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787365152480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809428,"imu":{"quaternion":[0.9931292533874512,0.0007727778283879161,0.018574945628643036,0.11553608626127243],"gyroscope":[0.0010652643395587802,0.013848436065018177,0.008522114716470242],"accelerometer":[-0.3654150366783142,0.02693476900458336,9.658807754516602],"rpy":[0.005831054411828518,0.036724332720041275,0.2317366600036621],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444894850254059,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015220497734844685,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100043833255768,"velocity_rad_s":0.0026432210579514503,"acceleration_raw":0.0,"estimated_torque_nm":6.781678199768066,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010513072833418846,"velocity_rad_s":-0.004621800500899553,"acceleration_raw":0.0,"estimated_torque_nm":-0.6851792931556702,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525784611701965,"velocity_rad_s":0.0053573050536215305,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028770742937922478,"velocity_rad_s":-0.0018944183830171824,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008959177881479263,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007015546318143606,"velocity_rad_s":-0.0009633314330130816,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022215327247977257,"velocity_rad_s":-0.0018256909679621458,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[44,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07816112041473389,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2686024308204651,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16747954487800598,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787365803328,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809452,"imu":{"quaternion":[0.9931184649467468,0.0007568670553155243,0.0185842402279377,0.11562841385602951],"gyroscope":[-0.0021305286791175604,0.009587379172444344,-0.0],"accelerometer":[-0.3824737071990967,-0.11222820729017258,9.762955665588379],"rpy":[0.005805000197142363,0.03674594685435295,0.2319222390651703],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445661664009094,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01528867520391941,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30994200706481934,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.871697902679443,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010622224770486355,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6336967349052429,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852621376514435,"velocity_rad_s":0.0021615338046103716,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028988115955144167,"velocity_rad_s":-0.0037194769829511642,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008758299984037876,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985363084822893,"velocity_rad_s":-0.007725767325609922,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022224988788366318,"velocity_rad_s":0.0012535593705251813,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07786151021718979,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16837836802005768,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787367717216,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809453,"imu":{"quaternion":[0.9931182861328125,0.0007549119181931019,0.018584895879030228,0.1156289130449295],"gyroscope":[-0.0021305286791175604,0.009587379172444344,-0.0],"accelerometer":[-0.35823243856430054,-0.035913024097681046,9.79797077178955],"rpy":[0.005801285617053509,0.03674769029021263,0.2319231629371643],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01528867520391941,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30993375182151794,"velocity_rad_s":0.003171865362673998,"acceleration_raw":0.0,"estimated_torque_nm":6.871697902679443,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010607785545289516,"velocity_rad_s":-0.0055461605079472065,"acceleration_raw":0.0,"estimated_torque_nm":-0.6336967349052429,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525370359420776,"velocity_rad_s":0.0037943164352327585,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028842869214713573,"velocity_rad_s":-0.008360153064131737,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008744907565414906,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007007985841482878,"velocity_rad_s":-0.0019325446337461472,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02222965657711029,"velocity_rad_s":0.001228337176144123,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07783754169940948,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16839034855365753,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787369929120,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809454,"imu":{"quaternion":[0.9931182265281677,0.0007560014491900802,0.018587520346045494,0.11562935262918472],"gyroscope":[0.004261057358235121,0.012783171609044075,-0.0],"accelerometer":[-0.3564367890357971,0.049380410462617874,9.714473724365234],"rpy":[0.005804074928164482,0.03675265237689018,0.2319241315126419],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445661664009094,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015271631069481373,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30993375182151794,"velocity_rad_s":-0.003741344204172492,"acceleration_raw":0.0,"estimated_torque_nm":6.871697902679443,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010607785545289516,"velocity_rad_s":-0.013942939229309559,"acceleration_raw":0.0,"estimated_torque_nm":-0.6336967349052429,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032379269599915,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28526628017425537,"velocity_rad_s":0.00803595781326294,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028915992006659508,"velocity_rad_s":-0.0028416283894330263,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008718123659491539,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007007985841482878,"velocity_rad_s":-0.009656840935349464,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02222965657711029,"velocity_rad_s":0.001261966535821557,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07783754169940948,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1684263050556183,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787372830752,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809455,"imu":{"quaternion":[0.9931182265281677,0.000757121539209038,0.0185896884649992,0.11562923341989517],"gyroscope":[0.004261057358235121,0.011717907153069973,-0.0010652643395587802],"accelerometer":[-0.4291606545448303,-0.005386953707784414,9.70549488067627],"rpy":[0.00580679951235652,0.03675670176744461,0.23192395269870758],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015271631069481373,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6314120292663574,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992957949638367,"velocity_rad_s":0.001053576241247356,"acceleration_raw":0.0,"estimated_torque_nm":6.871697902679443,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615060105919838,"velocity_rad_s":-0.0037044892087578773,"acceleration_raw":0.0,"estimated_torque_nm":-0.6336967349052429,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013797304593026638,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852537930011749,"velocity_rad_s":0.00905856303870678,"acceleration_raw":0.0,"estimated_torque_nm":3.2368369102478027,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002898744074627757,"velocity_rad_s":0.004553976934403181,"acceleration_raw":0.0,"estimated_torque_nm":1.0562158823013306,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008744907565414906,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007007985841482878,"velocity_rad_s":-0.010623114183545113,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02222965657711029,"velocity_rad_s":0.0018761352403089404,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07782556116580963,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.168450266122818,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787373476608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809456,"imu":{"quaternion":[0.9931182265281677,0.0007565647829324007,0.018592266365885735,0.11562864482402802],"gyroscope":[0.0010652643395587802,0.012783171609044075,-0.0021305286791175604],"accelerometer":[-0.4291606545448303,-0.005386953707784414,9.70549488067627],"rpy":[0.005806269124150276,0.03676195815205574,0.23192279040813446],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015271631069481373,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992957949638367,"velocity_rad_s":0.0010461518540978432,"acceleration_raw":0.0,"estimated_torque_nm":6.871697902679443,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615060105919838,"velocity_rad_s":-0.007416027132421732,"acceleration_raw":0.0,"estimated_torque_nm":-0.6336967349052429,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032379269599915,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852620780467987,"velocity_rad_s":0.007472309283912182,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028843367472290993,"velocity_rad_s":0.0017903785919770598,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008718123659491539,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007007985841482878,"velocity_rad_s":-0.006753613241016865,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02222965657711029,"velocity_rad_s":-0.004240328446030617,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28426581621170044,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07777762413024902,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16846226155757904,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787375933024,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809457,"imu":{"quaternion":[0.9931182861328125,0.0007560796802863479,0.01859484612941742,0.11562805622816086],"gyroscope":[0.0010652643395587802,0.012783171609044075,-0.0021305286791175604],"accelerometer":[-0.3654150366783142,0.06913257390260696,9.763854026794434],"rpy":[0.0058058807626366615,0.036767203360795975,0.23192162811756134],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015271631069481373,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30993786454200745,"velocity_rad_s":-2.2273286958807148e-05,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615005157887936,"velocity_rad_s":-0.011134614236652851,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852579355239868,"velocity_rad_s":0.005299143493175507,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002891549374908209,"velocity_rad_s":0.0073609245009720325,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0069853514432907104,"velocity_rad_s":-0.015451534651219845,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022234519943594933,"velocity_rad_s":0.0025071187410503626,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07775365561246872,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16848622262477875,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787378775520,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809458,"imu":{"quaternion":[0.993118405342102,0.0007524386746808887,0.018596595153212547,0.1156264916062355],"gyroscope":[-0.0053263213485479355,0.011717907153069973,-0.004261057358235121],"accelerometer":[-0.4345476031303406,-0.0,9.734225273132324],"rpy":[0.005798990838229656,0.03677152097225189,0.23191837966442108],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445661664009094,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015280152671039104,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30993786454200745,"velocity_rad_s":0.002107152482494712,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615005157887936,"velocity_rad_s":-0.007408978417515755,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026382035575807095,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852453589439392,"velocity_rad_s":0.007977795787155628,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002884219167754054,"velocity_rad_s":0.006413715425878763,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008718123659491539,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006985340267419815,"velocity_rad_s":-0.010627524927258492,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022244051098823547,"velocity_rad_s":0.005535924341529608,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07771769911050797,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07946740090847015,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1685221791267395,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787379403648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809459,"imu":{"quaternion":[0.9931187033653259,0.0007480756030417979,0.018599947914481163,0.11562389880418777],"gyroscope":[-0.0063915858045220375,0.014913700520992279,-0.0063915858045220375],"accelerometer":[-0.44173020124435425,0.03501519933342934,9.665093421936035],"rpy":[0.005791000090539455,0.036779213696718216,0.23191305994987488],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01528867520391941,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992957949638367,"velocity_rad_s":0.009001800790429115,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615060105919838,"velocity_rad_s":-0.00829104520380497,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852495610713959,"velocity_rad_s":0.007402515970170498,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028914816211909056,"velocity_rad_s":0.01289679016917944,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008718123659491539,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006977802608162165,"velocity_rad_s":-0.008686157874763012,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02223931811749935,"velocity_rad_s":-0.0030119912698864937,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07771769911050797,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1685701161623001,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07957525551319122,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787383222720,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809459,"imu":{"quaternion":[0.9931191802024841,0.000744200311601162,0.018603436648845673,0.11561917513608932],"gyroscope":[-0.0053263213485479355,0.014913700520992279,-0.010652642697095871],"accelerometer":[-0.44173020124435425,0.03501519933342934,9.665093421936035],"rpy":[0.005783931817859411,0.03678707033395767,0.23190343379974365],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445661664009094,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015297196805477142,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30993375182151794,"velocity_rad_s":0.0031570165883749723,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010607785545289516,"velocity_rad_s":-0.012969236820936203,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525784611701965,"velocity_rad_s":0.004758760333061218,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028770742937922478,"velocity_rad_s":0.008290793746709824,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006977790966629982,"velocity_rad_s":-0.00482989102602005,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022248849272727966,"velocity_rad_s":0.0018509130459278822,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07769373059272766,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16863003373146057,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07956327497959137,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787383849920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809460,"imu":{"quaternion":[0.993120014667511,0.0007411060505546629,0.018609190359711647,0.11561126261949539],"gyroscope":[-0.0031957929022610188,0.019174758344888687,-0.017044229432940483],"accelerometer":[-0.4031237065792084,0.0727238729596138,9.771934509277344],"rpy":[0.005778821650892496,0.03679926320910454,0.23188747465610504],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445661664009094,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015297196805477142,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992957949638367,"velocity_rad_s":0.005290154833346605,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615060105919838,"velocity_rad_s":-0.007387832272797823,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525784611701965,"velocity_rad_s":0.005862791556864977,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028770742937922478,"velocity_rad_s":0.002728917868807912,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008704732172191143,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0069551668129861355,"velocity_rad_s":-0.014482321217656136,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022244181483983994,"velocity_rad_s":-0.0005469094612635672,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28426581621170044,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07768175005912781,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16863003373146057,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787384482400,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809461,"imu":{"quaternion":[0.993120014667511,0.0007411060505546629,0.018609190359711647,0.11561126261949539],"gyroscope":[-0.0031957929022610188,0.019174758344888687,-0.017044229432940483],"accelerometer":[-0.4031237065792084,0.0727238729596138,9.771934509277344],"rpy":[0.005778821650892496,0.03679926320910454,0.23188747465610504],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015305719338357449,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313949823379517,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30993786454200745,"velocity_rad_s":0.0015785082941874862,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615005157887936,"velocity_rad_s":-0.0064846184104681015,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852620780467987,"velocity_rad_s":0.0015978856245055795,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028843367472290993,"velocity_rad_s":0.00091252924175933,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006970253307372332,"velocity_rad_s":-0.01833711750805378,"acceleration_raw":0.0,"estimated_torque_nm":-1.5579121112823486,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02224411629140377,"velocity_rad_s":-0.006629743613302708,"acceleration_raw":0.0,"estimated_torque_nm":-4.324306488037109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0776577815413475,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16867797076702118,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787386433216,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809462,"imu":{"quaternion":[0.9931207895278931,0.0007381942123174667,0.018618468195199966,0.11560221761465073],"gyroscope":[0.0010652643395587802,0.015978964045643806,-0.004261057358235121],"accelerometer":[-0.4255693554878235,0.0628477931022644,9.707290649414062],"rpy":[0.005774850491434336,0.03681841865181923,0.23186926543712616],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34454911947250366,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015297196805477142,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992960929870605,"velocity_rad_s":0.0021220012567937374,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010600566864013672,"velocity_rad_s":1.4097678104008082e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852620780467987,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028843367472290993,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006970242131501436,"velocity_rad_s":-0.01737525500357151,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022253647446632385,"velocity_rad_s":-0.0035841227509081364,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0776338130235672,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685664892196655,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1687019318342209,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787388332608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809463,"imu":{"quaternion":[0.9931204319000244,0.000738609756808728,0.018620295450091362,0.11560530215501785],"gyroscope":[0.0021305286791175604,0.010652642697095871,0.0053263213485479355],"accelerometer":[-0.353743314743042,-0.009876081719994545,9.711779594421387],"rpy":[0.005776213947683573,0.03682193532586098,0.23187552392482758],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445661664009094,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015314241871237755,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313864588737488,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3099213242530823,"velocity_rad_s":0.006347442977130413,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010600621812045574,"velocity_rad_s":-0.009236552752554417,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852453589439392,"velocity_rad_s":0.003736154641956091,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002884219167754054,"velocity_rad_s":0.0008951892959885299,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006977779325097799,"velocity_rad_s":-0.0038592074997723103,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022258378565311432,"velocity_rad_s":-0.0024230447597801685,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0776098445057869,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07946740090847015,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1687259078025818,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07958724349737167,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787389940000,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809464,"imu":{"quaternion":[0.9931204319000244,0.000738609756808728,0.018620295450091362,0.11560530215501785],"gyroscope":[0.0021305286791175604,0.010652642697095871,0.0053263213485479355],"accelerometer":[-0.353743314743042,-0.009876081719994545,9.711779594421387],"rpy":[0.005776213947683573,0.03682193532586098,0.23187552392482758],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015305719338357449,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3099213242530823,"velocity_rad_s":0.006358579732477665,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010600621812045574,"velocity_rad_s":-0.003669245168566704,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01375469472259283,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525784611701965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028770742937922478,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006962704472243786,"velocity_rad_s":-0.014473498798906803,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02224891446530819,"velocity_rad_s":-0.00786648876965046,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07757388800382614,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1687259078025818,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787392168192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809465,"imu":{"quaternion":[0.9931197762489319,0.0007391972467303276,0.018621008843183517,0.11561103165149689],"gyroscope":[0.0021305286791175604,0.008522114716470242,0.010652642697095871],"accelerometer":[-0.353743314743042,-0.009876081719994545,9.711779594421387],"rpy":[0.00577775901183486,0.03682318702340126,0.231887087225914],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445661664009094,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015305719338357449,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313779950141907,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992549657821655,"velocity_rad_s":0.0010387274669483304,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010593347251415253,"velocity_rad_s":-0.011127565987408161,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525370359420776,"velocity_rad_s":-0.000552015786524862,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028842869214713573,"velocity_rad_s":0.002780937822535634,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00866455677896738,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006962692830711603,"velocity_rad_s":-0.023174360394477844,"acceleration_raw":0.0,"estimated_torque_nm":-1.5579121112823486,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022258445620536804,"velocity_rad_s":0.0013208178570494056,"acceleration_raw":0.0,"estimated_torque_nm":-4.324306488037109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07756190747022629,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685664892196655,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1687738448381424,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787393752256,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809466,"imu":{"quaternion":[0.993119478225708,0.0007364758057519794,0.018622487783432007,0.11561360955238342],"gyroscope":[-0.0031957929022610188,0.010652642697095871,-0.0],"accelerometer":[-0.36092591285705566,0.05746084079146385,9.700108528137207],"rpy":[0.00577278807759285,0.036826737225055695,0.23189221322536469],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015331286005675793,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992957949638367,"velocity_rad_s":-0.000532356440089643,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615060105919838,"velocity_rad_s":-0.0009314089547842741,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852495610713959,"velocity_rad_s":0.0010342375608161092,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028914816211909056,"velocity_rad_s":0.0055445353500545025,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006947606336325407,"velocity_rad_s":-0.026065826416015625,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022258510813117027,"velocity_rad_s":-0.002936324570327997,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0103783393278718,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07754991948604584,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685664892196655,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16876186430454254,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787395601472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809467,"imu":{"quaternion":[0.9931194186210632,0.0007331718225032091,0.018623899668455124,0.11561418324708939],"gyroscope":[-0.0053263213485479355,0.010652642697095871,-0.0],"accelerometer":[-0.47494974732398987,0.041299980133771896,9.597756385803223],"rpy":[0.005766569636762142,0.03683030977845192,0.23189328610897064],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015331286005675793,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992546677589417,"velocity_rad_s":0.0010610006283968687,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010607840493321419,"velocity_rad_s":7.048839052004041e-06,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013763216324150562,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525784611701965,"velocity_rad_s":-0.0031725065782666206,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028770742937922478,"velocity_rad_s":-0.005527195520699024,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006955143995583057,"velocity_rad_s":-0.03572707995772362,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022263243794441223,"velocity_rad_s":0.0019854309502989054,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07753793895244598,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07946740090847015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1687738448381424,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787397470496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809468,"imu":{"quaternion":[0.9931194186210632,0.0007331718225032091,0.018623899668455124,0.11561418324708939],"gyroscope":[-0.0053263213485479355,0.010652642697095871,-0.0],"accelerometer":[-0.47494974732398987,0.041299980133771896,9.597756385803223],"rpy":[0.005766569636762142,0.03683030977845192,0.23189328610897064],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992546677589417,"velocity_rad_s":-0.001053576241247356,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010607840493321419,"velocity_rad_s":0.0037044892087578773,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852495610713959,"velocity_rad_s":-0.0010807669023051858,"acceleration_raw":0.0,"estimated_torque_nm":3.4161946773529053,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028914816211909056,"velocity_rad_s":0.0018597384914755821,"acceleration_raw":0.0,"estimated_torque_nm":1.0573430061340332,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00865116436034441,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0069702304899692535,"velocity_rad_s":-0.021240346133708954,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02226317673921585,"velocity_rad_s":-0.0011274483986198902,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14611166715621948,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07751397043466568,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07946740090847015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1687738448381424,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787399316832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809469,"imu":{"quaternion":[0.9931192398071289,0.0007303858874365687,0.018625348806381226,0.11561524122953415],"gyroscope":[-0.004261057358235121,0.010652642697095871,0.0010652643395587802],"accelerometer":[-0.3725976347923279,-0.0,9.682151794433594],"rpy":[0.005761408247053623,0.03683382645249367,0.2318953275680542],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015314241871237755,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30992135405540466,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":6.962403774261475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010586127638816833,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6855407953262329,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013771738857030869,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28525370359420776,"velocity_rad_s":-0.003265565261244774,"acceleration_raw":0.0,"estimated_torque_nm":3.3269357681274414,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028842869214713573,"velocity_rad_s":0.009281352162361145,"acceleration_raw":0.0,"estimated_torque_nm":1.1085758209228516,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006962692830711603,"velocity_rad_s":-0.021244756877422333,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022258445620536804,"velocity_rad_s":0.0025323403533548117,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07749000191688538,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07946740090847015,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1687978059053421,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787401457440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809489,"imu":{"quaternion":[0.9931154251098633,0.0007245991728268564,0.018682165071368217,0.1156381219625473],"gyroscope":[0.0010652643395587802,0.012783171609044075,0.0010652643395587802],"accelerometer":[-0.3034650683403015,0.10594342648983002,9.681253433227539],"rpy":[0.005763928405940533,0.036947913467884064,0.23194201290607452],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34454911947250366,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631352424621582,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3099088668823242,"velocity_rad_s":-0.0037116461899131536,"acceleration_raw":0.0,"estimated_torque_nm":7.143129348754883,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010607969015836716,"velocity_rad_s":0.0009032136294990778,"acceleration_raw":0.0,"estimated_torque_nm":-0.6859022974967957,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852453589439392,"velocity_rad_s":-0.0026902849785983562,"acceleration_raw":0.0,"estimated_torque_nm":3.5955522060394287,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002884219167754054,"velocity_rad_s":0.002798277884721756,"acceleration_raw":0.0,"estimated_torque_nm":1.0584701299667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00684192031621933,"velocity_rad_s":-0.009662723168730736,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022325685247778893,"velocity_rad_s":0.006141685880720615,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07711848616600037,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1691213846206665,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07962319254875183,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787403312096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809490,"imu":{"quaternion":[0.9931155443191528,0.0007241814164444804,0.018684647977352142,0.11563751846551895],"gyroscope":[-0.0010652643395587802,0.009587379172444344,-0.0031957929022610188],"accelerometer":[-0.2684498727321625,0.06823474913835526,9.73781681060791],"rpy":[0.005763649940490723,0.036952950060367584,0.23194082081317902],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34454911947250366,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631352424621582,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3099130094051361,"velocity_rad_s":-0.0053087156265974045,"acceleration_raw":0.0,"estimated_torque_nm":7.143129348754883,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615188628435135,"velocity_rad_s":-0.0018910131184384227,"acceleration_raw":0.0,"estimated_torque_nm":-0.6859022974967957,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28524112701416016,"velocity_rad_s":-0.0015629887348040938,"acceleration_raw":0.0,"estimated_torque_nm":3.5955522060394287,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028769387863576412,"velocity_rad_s":-0.006465734913945198,"acceleration_raw":0.0,"estimated_torque_nm":1.0584701299667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849469151347876,"velocity_rad_s":-0.0057976339012384415,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022320887073874474,"velocity_rad_s":0.0036850112956017256,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765705466270447,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01043826062232256,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07711848616600037,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1691213846206665,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07959922403097153,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787405168192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809491,"imu":{"quaternion":[0.9931155443191528,0.0007241814164444804,0.018684647977352142,0.11563751846551895],"gyroscope":[-0.0010652643395587802,0.009587379172444344,-0.0031957929022610188],"accelerometer":[-0.2684498727321625,0.06823474913835526,9.73781681060791],"rpy":[0.005763649940490723,0.036952950060367584,0.23194082081317902],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445405960083008,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01534833014011383,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313439011573792,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990472435951233,"velocity_rad_s":7.4244294410164e-06,"acceleration_raw":0.0,"estimated_torque_nm":7.143129348754883,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615243576467037,"velocity_rad_s":0.0037115381564944983,"acceleration_raw":0.0,"estimated_torque_nm":-0.6859022974967957,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852368950843811,"velocity_rad_s":0.003288829931989312,"acceleration_raw":0.0,"estimated_torque_nm":3.6856510639190674,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028696763329207897,"velocity_rad_s":-0.012983489781618118,"acceleration_raw":0.0,"estimated_torque_nm":1.1108300685882568,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841908674687147,"velocity_rad_s":-0.012564480304718018,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022335216403007507,"velocity_rad_s":0.010424050502479076,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07711848616600037,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16913336515426636,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07963517308235168,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787407017344,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809492,"imu":{"quaternion":[0.9931154847145081,0.0007228780305013061,0.01868622936308384,0.11563751101493835],"gyroscope":[-0.0021305286791175604,0.011717907153069973,-0.0010652643395587802],"accelerometer":[-0.3115454912185669,0.07811082899570465,9.798869132995605],"rpy":[0.005761425942182541,0.03695639595389366,0.23194079101085663],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34454911947250366,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313353776931763,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990472435951233,"velocity_rad_s":-0.0005360686336643994,"acceleration_raw":0.0,"estimated_torque_nm":7.052423477172852,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615243576467037,"velocity_rad_s":-0.0027871779166162014,"acceleration_raw":0.0,"estimated_torque_nm":-0.6340582966804504,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852494716644287,"velocity_rad_s":-0.003701257985085249,"acceleration_raw":0.0,"estimated_torque_nm":3.5955522060394287,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002877024468034506,"velocity_rad_s":-0.00644839508458972,"acceleration_raw":0.0,"estimated_torque_nm":1.0584701299667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006826822180300951,"velocity_rad_s":-0.010633407160639763,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02233528159558773,"velocity_rad_s":0.010415643453598022,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07711848616600037,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16913336515426636,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07964716106653214,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787408620832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809493,"imu":{"quaternion":[0.9931150674819946,0.0007195223006419837,0.01868767850100994,0.115641288459301],"gyroscope":[-0.0063915858045220375,0.011717907153069973,0.0063915858045220375],"accelerometer":[-0.46417585015296936,0.03950432687997818,9.735123634338379],"rpy":[0.005755232647061348,0.03696003183722496,0.23194830119609833],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631352424621582,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990472435951233,"velocity_rad_s":0.0037190706934779882,"acceleration_raw":0.0,"estimated_torque_nm":7.143129348754883,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615243576467037,"velocity_rad_s":0.0028083245269954205,"acceleration_raw":0.0,"estimated_torque_nm":-0.6859022974967957,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013797304593026638,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852451801300049,"velocity_rad_s":0.004863451234996319,"acceleration_raw":0.0,"estimated_torque_nm":3.5955522060394287,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028552692383527756,"velocity_rad_s":-0.008368823677301407,"acceleration_raw":0.0,"estimated_torque_nm":1.0584701299667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841908674687147,"velocity_rad_s":-0.0038680299185216427,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022335216403007507,"velocity_rad_s":0.00489653367549181,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765705466270447,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07709451764822006,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16913336515426636,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07963517308235168,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787410466496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809494,"imu":{"quaternion":[0.9931143522262573,0.000715802947524935,0.018692409619688988,0.11564663797616959],"gyroscope":[-0.0063915858045220375,0.01810949295759201,0.009587379172444344],"accelerometer":[-0.46417585015296936,0.03950432687997818,9.735123634338379],"rpy":[0.005749136209487915,0.036970265209674835,0.2319590151309967],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313439011573792,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990472435951233,"velocity_rad_s":0.0037005096673965454,"acceleration_raw":0.0,"estimated_torque_nm":7.143129348754883,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615243576467037,"velocity_rad_s":-0.006470520980656147,"acceleration_raw":0.0,"estimated_torque_nm":-0.6859022974967957,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35602840781211853,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032123565673828,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.285241037607193,"velocity_rad_s":0.0010807669023051858,"acceleration_raw":0.0,"estimated_torque_nm":3.506293296813965,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002862481866031885,"velocity_rad_s":-0.0018597384914755821,"acceleration_raw":0.0,"estimated_torque_nm":1.1097029447555542,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00866455677896738,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834371015429497,"velocity_rad_s":-0.007725767325609922,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02233048342168331,"velocity_rad_s":0.0012535593705251813,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07708253711462021,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16915734112262726,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07963517308235168,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787412335424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809495,"imu":{"quaternion":[0.9931135177612305,0.0007136208587326109,0.018697330728173256,0.1156519427895546],"gyroscope":[-0.0031957929022610188,0.01810949295759201,0.009587379172444344],"accelerometer":[-0.3824737071990967,0.017956512048840523,9.755773544311523],"rpy":[0.005746138747781515,0.03698050603270531,0.2319696694612503],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313439011573792,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3099129796028137,"velocity_rad_s":-0.0010684250155463815,"acceleration_raw":0.0,"estimated_torque_nm":7.143129348754883,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010629681870341301,"velocity_rad_s":-0.0037185868714004755,"acceleration_raw":0.0,"estimated_torque_nm":-0.6859022974967957,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013805827125906944,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852368950843811,"velocity_rad_s":0.002655387856066227,"acceleration_raw":0.0,"estimated_torque_nm":3.5955522060394287,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028696763329207897,"velocity_rad_s":0.002754927845671773,"acceleration_raw":0.0,"estimated_torque_nm":1.0584701299667358,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00866455677896738,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819272879511118,"velocity_rad_s":-0.006766847334802151,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234007976949215,"velocity_rad_s":0.0067390394397079945,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765705466270447,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07707054913043976,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1691453605890274,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07964716106653214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787414187712,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809496,"imu":{"quaternion":[0.993113100528717,0.0007134558982215822,0.018702520057559013,0.11565506458282471],"gyroscope":[0.0010652643395587802,0.01810949295759201,0.0053263213485479355],"accelerometer":[-0.36990416049957275,0.024241292849183083,9.792584419250488],"rpy":[0.005747130140662193,0.03699083998799324,0.23197604715824127],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631352424621582,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990472435951233,"velocity_rad_s":-0.002672918839380145,"acceleration_raw":0.0,"estimated_torque_nm":7.23314905166626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615243576467037,"velocity_rad_s":-0.010224351659417152,"acceleration_raw":0.0,"estimated_torque_nm":-0.6344197988510132,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852368950843811,"velocity_rad_s":0.0021382691338658333,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028696763329207897,"velocity_rad_s":-1.734002034936566e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006826798897236586,"velocity_rad_s":-0.008696450851857662,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02235434390604496,"velocity_rad_s":0.005527517292648554,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28431376814842224,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07704658061265945,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16915734112262726,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07963517308235168,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787416060992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809497,"imu":{"quaternion":[0.9931131601333618,0.0007141025853343308,0.018704015761613846,0.11565446853637695],"gyroscope":[0.0021305286791175604,0.010652642697095871,-0.0021305286791175604],"accelerometer":[-0.3214215636253357,0.011671733111143112,9.78989028930664],"rpy":[0.005748739931732416,0.03699366748332977,0.23197488486766815],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313694715499878,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990052223205566,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010637011379003525,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852325141429901,"velocity_rad_s":0.008657767437398434,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028334821108728647,"velocity_rad_s":-0.016728976741433144,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819272879511118,"velocity_rad_s":-0.015455945394933224,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234007976949215,"velocity_rad_s":0.006166907958686352,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0770346000790596,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1691453605890274,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07963517308235168,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787418175936,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809498,"imu":{"quaternion":[0.9931133985519409,0.000714847119525075,0.01870446465909481,0.11565174907445908],"gyroscope":[0.0021305286791175604,0.008522114716470242,-0.0063915858045220375],"accelerometer":[-0.34925416111946106,0.08619125932455063,9.780014991760254],"rpy":[0.005750223062932491,0.03699440136551857,0.2319694310426712],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34454911947250366,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313439011573792,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990058183670044,"velocity_rad_s":0.003704221686348319,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010608023963868618,"velocity_rad_s":-0.004614751320332289,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852199375629425,"velocity_rad_s":0.010807668790221214,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002826170064508915,"velocity_rad_s":-0.01859738491475582,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006811724044382572,"velocity_rad_s":-0.017382608726620674,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234487794339657,"velocity_rad_s":0.00251552602276206,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765705466270447,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0770346000790596,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1691453605890274,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07964716106653214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787420036960,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809499,"imu":{"quaternion":[0.9931139945983887,0.00071661954279989,0.018705030903220177,0.11564687639474869],"gyroscope":[0.004261057358235121,0.008522114716470242,-0.010652642697095871],"accelerometer":[-0.34925416111946106,0.08619125932455063,9.780014991760254],"rpy":[0.005753695033490658,0.036995142698287964,0.23195968568325043],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313439011573792,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30988815426826477,"velocity_rad_s":0.006343730725347996,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615353472530842,"velocity_rad_s":-0.011092321015894413,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519898653030396,"velocity_rad_s":0.015636222437024117,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028187541756778955,"velocity_rad_s":-0.021413004025816917,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006826822180300951,"velocity_rad_s":-0.018344469368457794,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02233528159558773,"velocity_rad_s":-0.0005300947232171893,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0770106315612793,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1691453605890274,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07964716106653214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787421962240,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809500,"imu":{"quaternion":[0.9931143522262573,0.000718544062692672,0.01870458759367466,0.115644671022892],"gyroscope":[0.004261057358235121,0.0063915858045220375,-0.0053263213485479355],"accelerometer":[-0.4165911078453064,0.017058687284588814,9.684844970703125],"rpy":[0.005757334642112255,0.036993835121393204,0.23195533454418182],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015314241871237755,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313353776931763,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990058183670044,"velocity_rad_s":0.0010313030797988176,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010608023963868618,"velocity_rad_s":-0.014839104376733303,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013805827125906944,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852030396461487,"velocity_rad_s":0.009726902469992638,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027971023228019476,"velocity_rad_s":-0.016737647354602814,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006811724044382572,"velocity_rad_s":-0.02510690502822399,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234487794339657,"velocity_rad_s":0.002549154683947563,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07699864357709885,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1691453605890274,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07964716106653214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787424565888,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809501,"imu":{"quaternion":[0.9931145906448364,0.0007208380266092718,0.018705319613218307,0.11564242839813232],"gyroscope":[0.0053263213485479355,0.008522114716470242,-0.0053263213485479355],"accelerometer":[-0.4174889326095581,0.02513911761343479,9.718064308166504],"rpy":[0.005761980544775724,0.03699477016925812,0.23195090889930725],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015331286005675793,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631352424621582,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098922669887543,"velocity_rad_s":0.0031681533437222242,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010622573085129261,"velocity_rad_s":-0.0074019297026097775,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013822871260344982,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852030396461487,"velocity_rad_s":0.005897688679397106,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027971023228019476,"velocity_rad_s":-0.0028242880944162607,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006826810538768768,"velocity_rad_s":-0.011587915942072868,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022344812750816345,"velocity_rad_s":0.0012703740503638983,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765705466270447,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07697467505931854,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16915734112262726,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07967112958431244,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787426245728,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809502,"imu":{"quaternion":[0.9931145310401917,0.0007209366303868592,0.01870744675397873,0.11564289033412933],"gyroscope":[0.0010652643395587802,0.011717907153069973,-0.0],"accelerometer":[-0.4246715307235718,0.08439560979604721,9.694721221923828],"rpy":[0.005762686021625996,0.03699897229671478,0.23195187747478485],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015331286005675793,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313439011573792,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30989640951156616,"velocity_rad_s":0.0026432210579514503,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01062979269772768,"velocity_rad_s":-0.004621800500899553,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013805827125906944,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851946949958801,"velocity_rad_s":0.0059093208983540535,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002797034801915288,"velocity_rad_s":-0.004675356205552816,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819272879511118,"velocity_rad_s":-0.01254830602556467,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234007976949215,"velocity_rad_s":-0.0029951767064630985,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843017876148224,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07697467505931854,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1691453605890274,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07964716106653214,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787431176128,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809503,"imu":{"quaternion":[0.9931140542030334,0.0007218007813207805,0.018712859600782394,0.1156449243426323],"gyroscope":[0.0031957929022610188,0.01810949295759201,0.0031957929022610188],"accelerometer":[-0.36990416049957275,0.08439560979604721,9.736919403076172],"rpy":[0.005765736103057861,0.03700951114296913,0.23195604979991913],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34451502561569214,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313439011573792,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30989646911621094,"velocity_rad_s":0.004742949269711971,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010600804351270199,"velocity_rad_s":-0.015742316842079163,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560369312763214,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013788782991468906,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28520312905311584,"velocity_rad_s":0.0027019171975553036,"acceleration_raw":0.0,"estimated_torque_nm":3.865008592605591,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028115594759583473,"velocity_rad_s":-0.004649346228688955,"acceleration_raw":0.0,"estimated_torque_nm":1.1119571924209595,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008677948266267776,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006811724044382572,"velocity_rad_s":-0.015441241674125195,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234487794339657,"velocity_rad_s":-0.006032390054315329,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07697467505931854,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16915734112262726,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07967112958431244,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787433318048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809504,"imu":{"quaternion":[0.9931138753890991,0.0007209371542558074,0.018719155341386795,0.11564543843269348],"gyroscope":[-0.0,0.020240021869540215,-0.0],"accelerometer":[-0.36990416049957275,0.08439560979604721,9.736919403076172],"rpy":[0.005765498150140047,0.03702221438288689,0.23195713758468628],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445405960083008,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015356851741671562,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313353776931763,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30988815426826477,"velocity_rad_s":0.006354867480695248,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615353472530842,"velocity_rad_s":-0.005525014363229275,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851946949958801,"velocity_rad_s":0.005897688679397106,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002797034801915288,"velocity_rad_s":-0.0028242880944162607,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008704732172191143,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068192617036402225,"velocity_rad_s":-0.0144793801009655,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022349610924720764,"velocity_rad_s":-0.0029867691919207573,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765705466270447,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14602778851985931,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07697467505931854,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16918130218982697,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07965914160013199,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787436468256,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809505,"imu":{"quaternion":[0.9931140542030334,0.0007197430240921676,0.018723871558904648,0.11564331501722336],"gyroscope":[-0.0010652643395587802,0.017044229432940483,-0.0053263213485479355],"accelerometer":[-0.43185412883758545,0.1562216579914093,9.724349021911621],"rpy":[0.0057641384191811085,0.0370318740606308,0.23195290565490723],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01534833014011383,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313353776931763,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30989229679107666,"velocity_rad_s":0.0021145769860595465,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01060807891190052,"velocity_rad_s":-0.0036974404938519,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851988971233368,"velocity_rad_s":-0.0010807669023051858,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002804297022521496,"velocity_rad_s":0.0018597384914755821,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006826798897236586,"velocity_rad_s":-0.015442711301147938,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02235434390604496,"velocity_rad_s":-0.0048124599270522594,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07697467505931854,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07944343239068985,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16918130218982697,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07967112958431244,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787440366432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809506,"imu":{"quaternion":[0.9931144714355469,0.0007170311291702092,0.018727930262684822,0.11563912034034729],"gyroscope":[-0.004261057358235121,0.015978964045643806,-0.009587379172444344],"accelerometer":[-0.4165911078453064,0.14185644686222076,9.825803756713867],"rpy":[0.005759533494710922,0.0370405912399292,0.23194439709186554],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01534833014011383,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313353776931763,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30988815426826477,"velocity_rad_s":0.000532356440089643,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615353472530842,"velocity_rad_s":0.0009314089547842741,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851947844028473,"velocity_rad_s":0.003701257985085249,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002811491722241044,"velocity_rad_s":0.00644839508458972,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068117124028503895,"velocity_rad_s":-0.018340058624744415,"acceleration_raw":0.0,"estimated_torque_nm":-1.5579121112823486,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354409098625183,"velocity_rad_s":-0.004189884290099144,"acceleration_raw":0.0,"estimated_torque_nm":-4.324306488037109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28428977727890015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07697467505931854,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16921725869178772,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07965914160013199,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787444545888,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809507,"imu":{"quaternion":[0.9931150078773499,0.0007146664429455996,0.018728915601968765,0.11563437432050705],"gyroscope":[-0.004261057358235121,0.009587379172444344,-0.010652642697095871],"accelerometer":[-0.4767454266548157,0.08080431073904037,9.699210166931152],"rpy":[0.005754884798079729,0.03704312443733215,0.2319347858428955],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445320725440979,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313353776931763,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30990472435951233,"velocity_rad_s":-0.0010572884930297732,"acceleration_raw":0.0,"estimated_torque_nm":7.323855400085449,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615243576467037,"velocity_rad_s":0.00184872024692595,"acceleration_raw":0.0,"estimated_torque_nm":-0.6862637996673584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601988434791565,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013805827125906944,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2852030396461487,"velocity_rad_s":0.004323067609220743,"acceleration_raw":0.0,"estimated_torque_nm":3.774909734725952,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027971023228019476,"velocity_rad_s":-0.0074389539659023285,"acceleration_raw":0.0,"estimated_torque_nm":1.0595972537994385,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068117124028503895,"velocity_rad_s":-0.010623114183545113,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354409098625183,"velocity_rad_s":0.0018761352403089404,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07695070654153824,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794314444065094,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.169193297624588,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07967112958431244,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787445315840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809527,"imu":{"quaternion":[0.9931150078773499,0.0007300752331502736,0.018794512376189232,0.11562394350767136],"gyroscope":[0.0021305286791175604,0.008522114716470242,-0.0031957929022610188],"accelerometer":[-0.45429977774620056,-0.016160860657691956,9.657012939453125],"rpy":[0.005800326820462942,0.03716995194554329,0.23191528022289276],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444468677043915,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312160491943359,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098674416542053,"velocity_rad_s":0.0015785082941874862,"acceleration_raw":0.0,"estimated_torque_nm":7.504580974578857,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01060822606086731,"velocity_rad_s":-0.0064846184104681015,"acceleration_raw":0.0,"estimated_torque_nm":-0.6866253614425659,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851947844028473,"velocity_rad_s":-0.0005287511157803237,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002811491722241044,"velocity_rad_s":-0.000921199272852391,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008744907565414906,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006781539414077997,"velocity_rad_s":-0.0019237218657508492,"acceleration_raw":0.0,"estimated_torque_nm":-1.5579121112823486,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02235453948378563,"velocity_rad_s":-0.006091241259127855,"acceleration_raw":0.0,"estimated_torque_nm":-4.324306488037109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16925321519374847,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0797070786356926,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787446055040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809528,"imu":{"quaternion":[0.9931150078773499,0.0007295907707884908,0.018796926364302635,0.1156233698129654],"gyroscope":[-0.0,0.010652642697095871,-0.0021305286791175604],"accelerometer":[-0.45429977774620056,-0.016160860657691956,9.657012939453125],"rpy":[0.0057999021373689175,0.03717486560344696,0.23191413283348083],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444468677043915,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015356851741671562,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312245726585388,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30986741185188293,"velocity_rad_s":0.0015896449331194162,"acceleration_raw":0.0,"estimated_torque_nm":7.413875102996826,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01062272023409605,"velocity_rad_s":-0.000917311292141676,"acceleration_raw":0.0,"estimated_torque_nm":-0.6347813010215759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":0.0005171187804080546,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.0027722676750272512,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008771691471338272,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006789077073335648,"velocity_rad_s":-0.0009648018749430776,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359272465109825,"velocity_rad_s":-0.0006057611899450421,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07693872600793839,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16925321519374847,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[46,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0797070786356926,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787448517408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809529,"imu":{"quaternion":[0.9931150078773499,0.0007295907707884908,0.018796926364302635,0.1156233698129654],"gyroscope":[-0.0,0.010652642697095871,-0.0021305286791175604],"accelerometer":[-0.45429977774620056,-0.016160860657691956,9.657012939453125],"rpy":[0.0057999021373689175,0.03717486560344696,0.23191413283348083],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01534833014011383,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312245726585388,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098674416542053,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":7.504580974578857,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01060822606086731,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.6866253614425659,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519880771636963,"velocity_rad_s":0.002655387856066227,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027898401021957397,"velocity_rad_s":0.002754927845671773,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804163567721844,"velocity_rad_s":-0.0038547965232282877,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359207272529602,"velocity_rad_s":-0.006082834210246801,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28426581621170044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16925321519374847,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07971906661987305,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787452067840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809530,"imu":{"quaternion":[0.9931151866912842,0.0007274728268384933,0.01881067268550396,0.11561961472034454],"gyroscope":[0.0021305286791175604,0.02237055078148842,-0.004261057358235121],"accelerometer":[-0.4264671802520752,0.0942716896533966,9.69741439819336],"rpy":[0.005798737984150648,0.03720268979668617,0.2319066971540451],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312245726585388,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30986741185188293,"velocity_rad_s":-0.000510083045810461,"acceleration_raw":0.0,"estimated_torque_nm":7.504580974578857,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01062272023409605,"velocity_rad_s":0.010203205049037933,"acceleration_raw":0.0,"estimated_torque_nm":-0.6866253614425659,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":0.0021266366820782423,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.0018337283981963992,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006789077073335648,"velocity_rad_s":-0.006750672589987516,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359272465109825,"velocity_rad_s":-0.006680188234895468,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28426581621170044,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16925321519374847,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07971906661987305,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787458176384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809531,"imu":{"quaternion":[0.9931150674819946,0.0007290381472557783,0.018818596377968788,0.11561951786279678],"gyroscope":[0.0053263213485479355,0.021305285394191742,-0.0010652643395587802],"accelerometer":[-0.42377370595932007,0.04758475720882416,9.638157844543457],"rpy":[0.005803682841360569,0.03721807152032852,0.23190665245056152],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015365374274551868,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312075257301331,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098715543746948,"velocity_rad_s":-0.003175577614456415,"acceleration_raw":0.0,"estimated_torque_nm":7.413875102996826,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615445673465729,"velocity_rad_s":0.003690391546115279,"acceleration_raw":0.0,"estimated_torque_nm":-0.6347813010215759,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":0.0053573050536215305,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":-0.0018944183830171824,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008785083889961243,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804175209254026,"velocity_rad_s":0.0019398968433961272,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022349676117300987,"velocity_rad_s":-0.00732798594981432,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16925321519374847,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07974303513765335,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787458930848,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809531,"imu":{"quaternion":[0.9931145310401917,0.0007327406201511621,0.018827345222234726,0.11562252789735794],"gyroscope":[0.009587379172444344,0.02237055078148842,0.0053263213485479355],"accelerometer":[-0.512658417224884,0.05386953800916672,9.644442558288574],"rpy":[0.0058131832629442215,0.037234582006931305,0.2319130003452301],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015365374274551868,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098715841770172,"velocity_rad_s":-0.002129425760358572,"acceleration_raw":0.0,"estimated_torque_nm":7.504580974578857,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010600952431559563,"velocity_rad_s":-0.0037256358191370964,"acceleration_raw":0.0,"estimated_torque_nm":-0.6866253614425659,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":0.004218376707285643,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.009220662526786327,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008771691471338272,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006796625908464193,"velocity_rad_s":-0.0048195980489254,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354474291205406,"velocity_rad_s":-0.006688595283776522,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16925321519374847,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0797310471534729,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787459591200,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809532,"imu":{"quaternion":[0.9931145310401917,0.0007327406201511621,0.018827345222234726,0.11562252789735794],"gyroscope":[0.009587379172444344,0.02237055078148842,0.0053263213485479355],"accelerometer":[-0.512658417224884,0.05386953800916672,9.644442558288574],"rpy":[0.0058131832629442215,0.037234582006931305,0.2319130003452301],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444724380970001,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098674416542053,"velocity_rad_s":-0.0021257135085761547,"acceleration_raw":0.0,"estimated_torque_nm":7.504580974578857,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01060822606086731,"velocity_rad_s":-0.0018698666244745255,"acceleration_raw":0.0,"estimated_torque_nm":-0.6866253614425659,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851947844028473,"velocity_rad_s":-0.006449704524129629,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002811491722241044,"velocity_rad_s":0.005605225916951895,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006789077073335648,"velocity_rad_s":0.0009750952594913542,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359272465109825,"velocity_rad_s":-0.00793374702334404,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16926519572734833,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07974303513765335,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787460245472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809533,"imu":{"quaternion":[0.9931134581565857,0.0007379143498837948,0.01884092204272747,0.11562968045473099],"gyroscope":[0.0053263213485479355,0.01810949295759201,0.0031957929022610188],"accelerometer":[-0.43993455171585083,0.022445641458034515,9.619303703308105],"rpy":[0.005826881155371666,0.03726032003760338,0.2319277822971344],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015356851741671562,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311819553375244,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098757266998291,"velocity_rad_s":-0.00689464807510376,"acceleration_raw":0.0,"estimated_torque_nm":7.504580974578857,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010608171112835407,"velocity_rad_s":0.0008820674265734851,"acceleration_raw":0.0,"estimated_torque_nm":-0.6866253614425659,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3560028374195099,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":-0.005955849774181843,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.012079630047082901,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008785083889961243,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006796625908464193,"velocity_rad_s":-0.0028958760667592287,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354474291205406,"velocity_rad_s":-0.0005973538500256836,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16927717626094818,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07974303513765335,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.71875,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787463738592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809534,"imu":{"quaternion":[0.9931133985519409,0.000737638387363404,0.018849780783057213,0.11562857031822205],"gyroscope":[0.0021305286791175604,0.023435814306139946,-0.0031957929022610188],"accelerometer":[-0.436343252658844,-0.0,9.736021041870117],"rpy":[0.0058283451944589615,0.037277985364198685,0.23192566633224487],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311734318733215,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098715543746948,"velocity_rad_s":-0.0015822204295545816,"acceleration_raw":0.0,"estimated_torque_nm":7.504580974578857,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615445673465729,"velocity_rad_s":0.0046288492158055305,"acceleration_raw":0.0,"estimated_torque_nm":-0.6866253614425659,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032208800315857,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":-0.007600265555083752,"acceleration_raw":0.0,"estimated_torque_nm":4.044365882873535,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.01857137493789196,"acceleration_raw":0.0,"estimated_torque_nm":1.113084316253662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006796614266932011,"velocity_rad_s":0.0009677427588030696,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02236400544643402,"velocity_rad_s":-0.0018340983660891652,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16927717626094818,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07976700365543365,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787466300288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809535,"imu":{"quaternion":[0.9931133985519409,0.000737638387363404,0.018849780783057213,0.11562857031822205],"gyroscope":[0.0021305286791175604,0.023435814306139946,-0.0031957929022610188],"accelerometer":[-0.436343252658844,-0.0,9.736021041870117],"rpy":[0.0058283451944589615,0.037277985364198685,0.23192566633224487],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34446391463279724,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098756968975067,"velocity_rad_s":-0.005293866619467735,"acceleration_raw":0.0,"estimated_torque_nm":7.594600677490234,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010622665286064148,"velocity_rad_s":0.005532063078135252,"acceleration_raw":0.0,"estimated_torque_nm":-0.6351428627967834,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":-0.0022429602686315775,"acceleration_raw":0.0,"estimated_torque_nm":4.2245635986328125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.01667695678770542,"acceleration_raw":0.0,"estimated_torque_nm":1.217804193496704,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804163567721844,"velocity_rad_s":-0.0019237218657508492,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359207272529602,"velocity_rad_s":-0.006091241259127855,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16928917169570923,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07976700365543365,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787468296512,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809536,"imu":{"quaternion":[0.9931133985519409,0.0007355260313488543,0.01886061578989029,0.11562645435333252],"gyroscope":[-0.0010652643395587802,0.027696872130036354,-0.0053263213485479355],"accelerometer":[-0.5036801695823669,0.07900865375995636,9.748590469360352],"rpy":[0.005826578941196203,0.03730001673102379,0.2319214791059494],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098674416542053,"velocity_rad_s":-0.0016230547334998846,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01060822606086731,"velocity_rad_s":-0.0157846100628376,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032379269599915,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":-0.0027019171975553036,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.004649346228688955,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006796625908464193,"velocity_rad_s":0.0019413672853261232,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354474291205406,"velocity_rad_s":-0.008547915145754814,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16931313276290894,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07977898418903351,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.731249988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787447158464,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":26368,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 173, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 427, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 264, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 6931090, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":173,"normal_force2":0,"normal_force3":0,"self_proximity1":6931090,"self_proximity2":0,"status":15616,"tangential_direction1":264,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":427,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 72, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 44, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 289, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 5732242, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":72,"normal_force2":0,"normal_force3":0,"self_proximity1":5732242,"self_proximity2":0,"status":13568,"tangential_direction1":289,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":44,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 33, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 21, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 278, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 3724059, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":33,"normal_force2":0,"normal_force3":0,"self_proximity1":3724059,"self_proximity2":0,"status":13568,"tangential_direction1":278,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":21,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 63, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 7, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 298, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 4549865, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":63,"normal_force2":0,"normal_force3":0,"self_proximity1":4549865,"self_proximity2":0,"status":26112,"tangential_direction1":298,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":7,"tangential_force2":0,"tangential_force3":0}],"touch_metric":427.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":787469958752,"stream":"brainco.motor","data":{"currents":[12,-101,17,2,-20,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [12, -101, 17, 2, -20, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":787470574784,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":427.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.03844762731481482}} +{"timestamp_monotonic_ns":787472566976,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809537,"imu":{"quaternion":[0.9931129217147827,0.0007300235447473824,0.018876831978559494,0.11562862247228622],"gyroscope":[-0.0031957929022610188,0.01810949295759201,0.0021305286791175604],"accelerometer":[-0.497395396232605,0.06554127484560013,9.742305755615234],"rpy":[0.005819482728838921,0.037333499640226364,0.23192590475082397],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311990022659302,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30985912680625916,"velocity_rad_s":0.0004915222525596619,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010608281008899212,"velocity_rad_s":-0.019482051953673363,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":0.0010342375608161092,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.0055445353500545025,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804163567721844,"velocity_rad_s":0.003872441593557596,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359207272529602,"velocity_rad_s":-0.008556323125958443,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07690277695655823,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16930115222930908,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07979097217321396,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787474576032,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809538,"imu":{"quaternion":[0.9931129217147827,0.0007300235447473824,0.018876831978559494,0.11562862247228622],"gyroscope":[-0.0031957929022610188,0.01810949295759201,0.0021305286791175604],"accelerometer":[-0.497395396232605,0.06554127484560013,9.742305755615234],"rpy":[0.005819482728838921,0.037333499640226364,0.23192590475082397],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444468677043915,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30986326932907104,"velocity_rad_s":0.004218017682433128,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615500621497631,"velocity_rad_s":-0.012962188571691513,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013856959529221058,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851947844028473,"velocity_rad_s":-0.0022313278168439865,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002811491722241044,"velocity_rad_s":0.014825887978076935,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00881186779588461,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804175209254026,"velocity_rad_s":0.006763906218111515,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022349676117300987,"velocity_rad_s":-0.004299180116504431,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0794074758887291,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16928917169570923,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626103162765503,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07977898418903351,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787475646432,"stream":"controller.event","data":{"event":"minor_arm_movement_started","start_delay_seconds":0.5}} +{"timestamp_monotonic_ns":787477771040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809539,"imu":{"quaternion":[0.9931126832962036,0.0007302204030565917,0.01887834444642067,0.1156301349401474],"gyroscope":[0.0010652643395587802,0.008522114716470242,0.0021305286791175604],"accelerometer":[-0.49559974670410156,0.06733692437410355,9.711779594421387],"rpy":[0.005820281803607941,0.03733644634485245,0.2319289743900299],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444383442401886,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30985912680625916,"velocity_rad_s":0.0058150868862867355,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010608281008899212,"velocity_rad_s":-0.010167961940169334,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013856959529221058,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28518643975257874,"velocity_rad_s":0.0026321231853216887,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028114239685237408,"velocity_rad_s":0.006457064766436815,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008825259283185005,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006811724044382572,"velocity_rad_s":-0.0019296037498861551,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234487794339657,"velocity_rad_s":-0.0012115223798900843,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16927717626094818,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07979097217321396,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787481225984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809540,"imu":{"quaternion":[0.9931125640869141,0.0007309970678761601,0.018878910690546036,0.115631103515625],"gyroscope":[0.0021305286791175604,0.0063915858045220375,0.0010652643395587802],"accelerometer":[-0.5225345492362976,0.004489128012210131,9.718064308166504],"rpy":[0.005821994040161371,0.03733738884329796,0.2319309562444687],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444298207759857,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312075257301331,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30985501408576965,"velocity_rad_s":0.0005026586004532874,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010601062327623367,"velocity_rad_s":-0.013914743438363075,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013856959529221058,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":0.000552015786524862,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":-0.002780937822535634,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008825259283185005,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804175209254026,"velocity_rad_s":0.002906169043853879,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022349676117300987,"velocity_rad_s":-0.007942154072225094,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07690277695655823,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16927717626094818,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07979097217321396,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787482312352,"stream":"controller.event","data":{"event":"minor_arm_movement_released_after_arm_raise"}} +{"timestamp_monotonic_ns":787484267072,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809541,"imu":{"quaternion":[0.9931118488311768,0.0007338608847931027,0.018884792923927307,0.1156361997127533],"gyroscope":[0.0031957929022610188,0.013848436065018177,0.0053263213485479355],"accelerometer":[-0.35733461380004883,0.13916297256946564,9.741408348083496],"rpy":[0.005829241126775742,0.03734838590025902,0.23194141685962677],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34442129731178284,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312075257301331,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30985501408576965,"velocity_rad_s":0.0015562352491542697,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010601062327623367,"velocity_rad_s":-0.017619233578443527,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":-0.000552015786524862,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":0.002780937822535634,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008798475377261639,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804163567721844,"velocity_rad_s":-0.008684687316417694,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359207272529602,"velocity_rad_s":-0.0042319209314882755,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07939549535512924,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16928917169570923,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07979097217321396,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787486384768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809542,"imu":{"quaternion":[0.9931118488311768,0.0007338608847931027,0.018884792923927307,0.1156361997127533],"gyroscope":[0.0031957929022610188,0.013848436065018177,0.0053263213485479355],"accelerometer":[-0.35733461380004883,0.13916297256946564,9.741408348083496],"rpy":[0.005829241126775742,0.03734838590025902,0.23194141685962677],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098508417606354,"velocity_rad_s":-1.1136643479403574e-05,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010608336888253689,"velocity_rad_s":-0.0055673071183264256,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851947844028473,"velocity_rad_s":-0.0010807669023051858,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002811491722241044,"velocity_rad_s":0.0018597384914755821,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00881186779588461,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006789077073335648,"velocity_rad_s":-0.003857737174257636,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359272465109825,"velocity_rad_s":-0.003642974654212594,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07690277695655823,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16930115222930908,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07980295270681381,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787488975296,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809543,"imu":{"quaternion":[0.993111252784729,0.0007354081026278436,0.018890507519245148,0.11564033478498459],"gyroscope":[0.004261057358235121,0.017044229432940483,0.0074568502604961395],"accelerometer":[-0.35733461380004883,0.13916297256946564,9.741408348083496],"rpy":[0.0058337971568107605,0.03735935688018799,0.23194989562034607],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34445539116859436,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015365374274551868,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30986326932907104,"velocity_rad_s":-0.006373428273946047,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010615500621497631,"velocity_rad_s":-0.0037538311444222927,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013848437927663326,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":-0.002115004463121295,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":-0.003684797091409564,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008825259283185005,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804175209254026,"velocity_rad_s":0.002903228159993887,"acceleration_raw":0.0,"estimated_torque_nm":-1.5579121112823486,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022349676117300987,"velocity_rad_s":-0.00550229474902153,"acceleration_raw":0.0,"estimated_torque_nm":-4.324306488037109,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07690277695655823,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16930115222930908,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07982692122459412,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787491446784,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809544,"imu":{"quaternion":[0.9931109547615051,0.0007375074783340096,0.018895108252763748,0.11564233899116516],"gyroscope":[0.0053263213485479355,0.014913700520992279,0.0031957929022610188],"accelerometer":[-0.33848026394844055,0.020649990066885948,9.832088470458984],"rpy":[0.005839111749082804,0.03736799955368042,0.23195405304431915],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444298207759857,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311990022659302,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30985501408576965,"velocity_rad_s":-0.000532356440089643,"acceleration_raw":0.0,"estimated_torque_nm":7.685307025909424,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010601062327623367,"velocity_rad_s":-0.0009314089547842741,"acceleration_raw":0.0,"estimated_torque_nm":-0.6869868636131287,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":4.833984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032294034957886,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":-0.0053224083967506886,"acceleration_raw":0.0,"estimated_torque_nm":4.313822269439697,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":-0.0036587873473763466,"acceleration_raw":0.0,"estimated_torque_nm":1.1665713787078857,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008825259283185005,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006796625908464193,"velocity_rad_s":-0.007721355650573969,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354474291205406,"velocity_rad_s":-0.0024062299635261297,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07937152683734894,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1693251132965088,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07983890920877457,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787494279424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809567,"imu":{"quaternion":[0.9931066632270813,0.0007349757943302393,0.01903495378792286,0.115656279027462],"gyroscope":[0.0021305286791175604,0.013848436065018177,0.0010652643395587802],"accelerometer":[-0.39953240752220154,-0.04399345442652702,9.703699111938477],"rpy":[0.005867032799869776,0.03764636442065239,0.23198409378528595],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34441277384757996,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311222910881042,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30980128049850464,"velocity_rad_s":0.008986951783299446,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010521668940782547,"velocity_rad_s":-0.015714121982455254,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851821184158325,"velocity_rad_s":0.0021615338046103716,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002789704594761133,"velocity_rad_s":-0.0037194769829511642,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008892218582332134,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":0.005799104459583759,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":-0.004904941190034151,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07928763329982758,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1696486920118332,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08006660640239716,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787496332160,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809568,"imu":{"quaternion":[0.9931066632270813,0.0007340366719290614,0.019038023427128792,0.11565569788217545],"gyroscope":[-0.0,0.012783171609044075,-0.0021305286791175604],"accelerometer":[-0.4578910768032074,0.09247604012489319,9.637260437011719],"rpy":[0.005865856073796749,0.03765267878770828,0.23198293149471283],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444042503833771,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015399462543427944,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008436894044280052,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63113933801651,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098095953464508,"velocity_rad_s":0.0058187986724078655,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010521631687879562,"velocity_rad_s":-0.008312191814184189,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28518229722976685,"velocity_rad_s":0.003736154641956091,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002818618668243289,"velocity_rad_s":0.0008951892959885299,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008892218582332134,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":0.007728708442300558,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":-0.003693418810144067,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07928763329982758,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16966067254543304,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0800785943865776,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787498684320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809569,"imu":{"quaternion":[0.9931070804595947,0.0007361863390542567,0.019041551277041435,0.11565186083316803],"gyroscope":[0.0063915858045220375,0.012783171609044075,-0.008522114716470242],"accelerometer":[-0.4991910457611084,0.03770867735147476,9.592369079589844],"rpy":[0.00587080093100667,0.03765921667218208,0.23197533190250397],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444042503833771,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015399462543427944,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311308145523071,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979710817337036,"velocity_rad_s":0.005293866619467735,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010528961196541786,"velocity_rad_s":-0.005532063078135252,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032464504241943,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851780652999878,"velocity_rad_s":0.005403834395110607,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028113562148064375,"velocity_rad_s":-0.00929869245737791,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008905611000955105,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834336556494236,"velocity_rad_s":-0.0009648018749430776,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359075024724007,"velocity_rad_s":-0.0006057611899450421,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07927565276622772,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16970860958099365,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08009057492017746,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787502003040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809570,"imu":{"quaternion":[0.9931074380874634,0.0007384212804026902,0.019044600427150726,0.11564800888299942],"gyroscope":[0.0063915858045220375,0.011717907153069973,-0.008522114716470242],"accelerometer":[-0.4803367257118225,0.05117605999112129,9.674968719482422],"rpy":[0.005875803995877504,0.03766477853059769,0.2319677174091339],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444042503833771,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015365374274551868,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008436894044280052,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311222910881042,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979710817337036,"velocity_rad_s":0.004768934566527605,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010528961196541786,"velocity_rad_s":-0.002751933643594384,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851863503456116,"velocity_rad_s":0.005920953582972288,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027969670481979847,"velocity_rad_s":-0.006526425015181303,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008892218582332134,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834336556494236,"velocity_rad_s":0.011590857058763504,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359075024724007,"velocity_rad_s":-0.0037102338392287493,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07927565276622772,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16968464851379395,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0800785943865776,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787502651424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809571,"imu":{"quaternion":[0.993107795715332,0.0007431984995491803,0.019049588590860367,0.11564409732818604],"gyroscope":[0.011717907153069973,0.014913700520992279,-0.008522114716470242],"accelerometer":[-0.4776432514190674,0.11043255031108856,9.718962669372559],"rpy":[0.005886307451874018,0.03767360746860504,0.23196007311344147],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444042503833771,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01540798507630825,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311137676239014,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979296565055847,"velocity_rad_s":0.0032015631441026926,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010536235757172108,"velocity_rad_s":0.0092999916523695,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013865482062101364,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28519055247306824,"velocity_rad_s":0.0058860559947788715,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028042292688041925,"velocity_rad_s":-0.0009732191101647913,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008892218582332134,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834336556494236,"velocity_rad_s":0.01062899548560381,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359075024724007,"velocity_rad_s":-0.006755854468792677,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07928763329982758,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685545086860657,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16970860958099365,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08010256290435791,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787505688832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809572,"imu":{"quaternion":[0.9931079149246216,0.0007454684819094837,0.019054297357797623,0.11564237624406815],"gyroscope":[0.0063915858045220375,0.014913700520992279,-0.004261057358235121],"accelerometer":[-0.4776432514190674,0.11043255031108856,9.718962669372559],"rpy":[0.005891846027225256,0.03768245130777359,0.23195675015449524],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444042503833771,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015390940010547638,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311052441596985,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309797078371048,"velocity_rad_s":0.005342125426977873,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01055796630680561,"velocity_rad_s":0.01859293505549431,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.355994313955307,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032464504241943,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851863503456116,"velocity_rad_s":0.008529812097549438,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027969670481979847,"velocity_rad_s":0.003632777137681842,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008905611000955105,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00682678772136569,"velocity_rad_s":0.007727237418293953,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022363873198628426,"velocity_rad_s":-0.0024734889157116413,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07691475749015808,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07928763329982758,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1697206050157547,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08010256290435791,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787506381824,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809573,"imu":{"quaternion":[0.993107795715332,0.0007465697708539665,0.019059905782341957,0.11564228683710098],"gyroscope":[0.004261057358235121,0.017044229432940483,-0.0010652643395587802],"accelerometer":[-0.4183867573738098,0.004489128012210131,9.61212158203125],"rpy":[0.005895331967622042,0.037693336606025696,0.23195670545101166],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3444042503833771,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310967206954956,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098054528236389,"velocity_rad_s":0.0031867141369730234,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010514394380152225,"velocity_rad_s":0.0018769155722111464,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851822078227997,"velocity_rad_s":0.00958731397986412,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002804161747917533,"velocity_rad_s":0.005475175101310015,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008905611000955105,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":0.006765376776456833,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":-0.005519109778106213,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07928763329982758,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16970860958099365,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08012653142213821,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787511375232,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809574,"imu":{"quaternion":[0.9931076169013977,0.0007467356044799089,0.0190644022077322,0.1156427189707756],"gyroscope":[0.0021305286791175604,0.014913700520992279,-0.0],"accelerometer":[-0.5090671181678772,0.029628245159983635,9.592369079589844],"rpy":[0.005896721035242081,0.03770223259925842,0.23195764422416687],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34437867999076843,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311052441596985,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979299545288086,"velocity_rad_s":0.0058150868862867355,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010521741583943367,"velocity_rad_s":-0.010167961940169334,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013916614465415478,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032464504241943,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28518643975257874,"velocity_rad_s":0.00687376456335187,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028114239685237408,"velocity_rad_s":0.011975590139627457,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008905611000955105,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":-0.0028914648573845625,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":-0.004257143009454012,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07926366478204727,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16973258554935455,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08012653142213821,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787512073856,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809575,"imu":{"quaternion":[0.9931075572967529,0.0007500278297811747,0.019069818779826164,0.11564310640096664],"gyroscope":[0.008522114716470242,0.015978964045643806,-0.0],"accelerometer":[-0.47315409779548645,0.05297171324491501,9.725247383117676],"rpy":[0.005904534365981817,0.037712227553129196,0.23195864260196686],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443872034549713,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310881972312927,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979710817337036,"velocity_rad_s":0.0026357967872172594,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010528961196541786,"velocity_rad_s":-0.008333338424563408,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35601136088371277,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":5.09765625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032464504241943,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28518229722976685,"velocity_rad_s":0.005229349248111248,"acceleration_raw":0.0,"estimated_torque_nm":4.582438945770264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002818618668243289,"velocity_rad_s":0.018467335030436516,"acceleration_raw":0.0,"estimated_torque_nm":1.1164655685424805,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008905611000955105,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834336556494236,"velocity_rad_s":-0.0057976339012384415,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359075024724007,"velocity_rad_s":0.0036850112956017256,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07925168424844742,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16970860958099365,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08013851195573807,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787512711808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809576,"imu":{"quaternion":[0.9931075572967529,0.0007500278297811747,0.019069818779826164,0.11564310640096664],"gyroscope":[0.008522114716470242,0.015978964045643806,-0.0],"accelerometer":[-0.47315409779548645,0.05297171324491501,9.725247383117676],"rpy":[0.005904534365981817,0.037712227553129196,0.23195864260196686],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34442129731178284,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015390940010547638,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310881972312927,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30980542302131653,"velocity_rad_s":-7.4244294410164e-06,"acceleration_raw":0.0,"estimated_torque_nm":7.8667192459106445,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010528906248509884,"velocity_rad_s":-0.0037115381564944983,"acceleration_raw":0.0,"estimated_torque_nm":-0.7906748652458191,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.185546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851821184158325,"velocity_rad_s":0.009023666381835938,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002789704594761133,"velocity_rad_s":0.010107181966304779,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0089190024882555,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834348198026419,"velocity_rad_s":-0.0019296037498861551,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234954573214054,"velocity_rad_s":-0.0012115223798900843,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07925168424844742,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16975654661655426,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08015049993991852,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787515769312,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809577,"imu":{"quaternion":[0.9931074976921082,0.000753364700358361,0.01907985471189022,0.1156412810087204],"gyroscope":[0.0031957929022610188,0.015978964045643806,-0.004261057358235121],"accelerometer":[-0.491110622882843,0.024241292849183083,9.756670951843262],"rpy":[0.005913425702601671,0.03773140534758568,0.23195521533489227],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34437867999076843,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0153738958761096,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631071150302887,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30980128049850464,"velocity_rad_s":0.002639508806169033,"acceleration_raw":0.0,"estimated_torque_nm":7.956738471984863,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010521668940782547,"velocity_rad_s":-0.006477569229900837,"acceleration_raw":0.0,"estimated_torque_nm":-0.7391923666000366,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28517386317253113,"velocity_rad_s":0.012242701835930347,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028040939942002296,"velocity_rad_s":0.008230103179812431,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008905611000955105,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":-0.004831361584365368,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":0.0030708429403603077,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07692674547433853,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07923969626426697,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16975654661655426,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.393750190734863,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08015049993991852,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787516469216,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809578,"imu":{"quaternion":[0.9931077361106873,0.0007517165504395962,0.019084887579083443,0.1156386137008667],"gyroscope":[-0.0010652643395587802,0.015978964045643806,-0.0063915858045220375],"accelerometer":[-0.5665279626846313,-0.0,9.688436508178711],"rpy":[0.005911214742809534,0.037741802632808685,0.23194986581802368],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443872034549713,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015390940010547638,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631071150302887,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30980128049850464,"velocity_rad_s":0.004765222780406475,"acceleration_raw":0.0,"estimated_torque_nm":7.956738471984863,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010521668940782547,"velocity_rad_s":-0.004607703071087599,"acceleration_raw":0.0,"estimated_torque_nm":-0.7391923666000366,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28517386317253113,"velocity_rad_s":0.01120846439152956,"acceleration_raw":0.0,"estimated_torque_nm":4.851895332336426,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028040939942002296,"velocity_rad_s":0.002685567131265998,"acceleration_raw":0.0,"estimated_torque_nm":1.169952630996704,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008945786394178867,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":0.0019296037498861551,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":0.0012115223798900843,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07693872600793839,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07925168424844742,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16975654661655426,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08015049993991852,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787518451168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809579,"imu":{"quaternion":[0.9931081533432007,0.0007519785431213677,0.019087500870227814,0.11563537269830704],"gyroscope":[0.0021305286791175604,0.010652642697095871,-0.0074568502604961395],"accelerometer":[-0.4982932209968567,0.06554127484560013,9.657910346984863],"rpy":[0.005912216380238533,0.03774695843458176,0.23194338381290436],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34437867999076843,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310626268386841,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979302525520325,"velocity_rad_s":0.0026283725164830685,"acceleration_raw":0.0,"estimated_torque_nm":7.956738471984863,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507229715585709,"velocity_rad_s":-0.01204487681388855,"acceleration_raw":0.0,"estimated_torque_nm":-0.7391923666000366,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851655185222626,"velocity_rad_s":0.011772111989557743,"acceleration_raw":0.0,"estimated_torque_nm":4.762636661529541,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028040262404829264,"velocity_rad_s":-0.0019464382203295827,"acceleration_raw":0.0,"estimated_torque_nm":1.2211854457855225,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008945786394178867,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":-0.005793222226202488,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":2.5222105250577442e-05,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07695070654153824,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07922771573066711,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16975654661655426,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08015049993991852,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787520373504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809579,"imu":{"quaternion":[0.9931081533432007,0.0007519785431213677,0.019087500870227814,0.11563537269830704],"gyroscope":[0.0021305286791175604,0.010652642697095871,-0.0074568502604961395],"accelerometer":[-0.4982932209968567,0.06554127484560013,9.657910346984863],"rpy":[0.005912216380238533,0.03774695843458176,0.23194338381290436],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34437867999076843,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310541033744812,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097971975803375,"velocity_rad_s":0.0026283725164830685,"acceleration_raw":0.0,"estimated_torque_nm":7.956738471984863,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010499955154955387,"velocity_rad_s":-0.01204487681388855,"acceleration_raw":0.0,"estimated_torque_nm":-0.7391923666000366,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032549738883972,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851529121398926,"velocity_rad_s":0.02081904374063015,"acceleration_raw":0.0,"estimated_torque_nm":4.851895332336426,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027966781053692102,"velocity_rad_s":0.004458606708794832,"acceleration_raw":0.0,"estimated_torque_nm":1.169952630996704,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008945786394178867,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":-0.005794692784547806,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":0.00124515185598284,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28426581621170044,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07693872600793839,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07922771573066711,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16978052258491516,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08016248047351837,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787521992256,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809580,"imu":{"quaternion":[0.9931086897850037,0.0007534580654464662,0.019088882952928543,0.11562987416982651],"gyroscope":[0.0021305286791175604,0.0063915858045220375,-0.004261057358235121],"accelerometer":[-0.39145198464393616,-0.015263035893440247,9.733327865600586],"rpy":[0.005915270186960697,0.03774939477443695,0.2319323718547821],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34437867999076843,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310370564460754,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979716777801514,"velocity_rad_s":0.005286442115902901,"acceleration_raw":0.0,"estimated_torque_nm":7.956738471984863,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010514449328184128,"velocity_rad_s":-0.009243601001799107,"acceleration_raw":0.0,"estimated_torque_nm":-0.7391923666000366,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603272020816803,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516530990600586,"velocity_rad_s":0.010209123603999615,"acceleration_raw":0.0,"estimated_torque_nm":4.851895332336426,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027750940062105656,"velocity_rad_s":-0.008412173949182034,"acceleration_raw":0.0,"estimated_torque_nm":1.169952630996704,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008945786394178867,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":-0.009653900749981403,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":-0.0011778927873820066,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07695070654153824,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07921572774648666,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16979250311851501,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08018644899129868,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787523920288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809581,"imu":{"quaternion":[0.9931086301803589,0.0007542502717114985,0.019091326743364334,0.11562924087047577],"gyroscope":[0.0031957929022610188,0.010652642697095871,-0.0021305286791175604],"accelerometer":[-0.39145198464393616,-0.015263035893440247,9.733327865600586],"rpy":[0.005917388014495373,0.03775406256318092,0.2319311499595642],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34436163306236267,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310455799102783,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979299545288086,"velocity_rad_s":0.0021257135085761547,"acceleration_raw":0.0,"estimated_torque_nm":7.956738471984863,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010521741583943367,"velocity_rad_s":0.0018698666244745255,"acceleration_raw":0.0,"estimated_torque_nm":-0.7391923666000366,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516945242881775,"velocity_rad_s":0.011266626417636871,"acceleration_raw":0.0,"estimated_torque_nm":4.851895332336426,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002767899539321661,"velocity_rad_s":-0.00656977528706193,"acceleration_raw":0.0,"estimated_torque_nm":1.169952630996704,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008972570300102234,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834336556494236,"velocity_rad_s":-0.0096597820520401,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359075024724007,"velocity_rad_s":0.0037018260918557644,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07695070654153824,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07919175922870636,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16979250311851501,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08019843697547913,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787525914080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809582,"imu":{"quaternion":[0.9931086301803589,0.0007542502717114985,0.019091326743364334,0.11562924087047577],"gyroscope":[0.0031957929022610188,0.010652642697095871,-0.0021305286791175604],"accelerometer":[-0.39145198464393616,-0.015263035893440247,9.733327865600586],"rpy":[0.005917388014495373,0.03775406256318092,0.2319311499595642],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3443957269191742,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015399462543427944,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310455799102783,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979710817337036,"velocity_rad_s":0.003715358441695571,"acceleration_raw":0.0,"estimated_torque_nm":7.956738471984863,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010528961196541786,"velocity_rad_s":0.0009525555069558322,"acceleration_raw":0.0,"estimated_torque_nm":-0.7391923666000366,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":5.2734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032634973526001,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516945242881775,"velocity_rad_s":0.006472969427704811,"acceleration_raw":0.0,"estimated_torque_nm":4.851895332336426,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002767899539321661,"velocity_rad_s":-0.00930736307054758,"acceleration_raw":0.0,"estimated_torque_nm":1.169952630996704,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008959177881479263,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":-0.009655371308326721,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":4.203684511594474e-05,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842777967453003,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07695070654153824,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07921572774648666,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16982845962047577,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08021041750907898,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787527550464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809583,"imu":{"quaternion":[0.9931083917617798,0.00075492262840271,0.01909531280398369,0.11563127487897873],"gyroscope":[0.0031957929022610188,0.013848436065018177,0.0031957929022610188],"accelerometer":[-0.4156932830810547,0.008080430328845978,9.67227554321289],"rpy":[0.005919725634157658,0.03776181861758232,0.23193535208702087],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34437867999076843,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015382418408989906,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310370564460754,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979716777801514,"velocity_rad_s":0.0005397808272391558,"acceleration_raw":0.0,"estimated_torque_nm":7.956738471984863,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010514449328184128,"velocity_rad_s":0.004642947111278772,"acceleration_raw":0.0,"estimated_torque_nm":-0.7391923666000366,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":5.361328125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603272020816803,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851569652557373,"velocity_rad_s":0.002196430927142501,"acceleration_raw":0.0,"estimated_torque_nm":4.851895332336426,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002775026485323906,"velocity_rad_s":-0.00927268248051405,"acceleration_raw":0.0,"estimated_torque_nm":1.169952630996704,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008972570300102234,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":0.0038592074997723103,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":0.0024230447597801685,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004446147475391626,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765585660934448,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07695070654153824,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07921572774648666,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16984044015407562,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08021041750907898,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787534201056,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809603,"imu":{"quaternion":[0.9931086301803589,0.0007440701592713594,0.01920386590063572,0.11561175435781479],"gyroscope":[0.004261057358235121,0.01810949295759201,-0.0063915858045220375],"accelerometer":[-0.4884171485900879,0.09696517139673233,9.708189010620117],"rpy":[0.005922574549913406,0.03798013553023338,0.2318972498178482],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01534833014011383,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309774518013,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097764253616333,"velocity_rad_s":0.0005249319947324693,"acceleration_raw":0.0,"estimated_torque_nm":8.227483749389648,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010521851480007172,"velocity_rad_s":-0.002780129201710224,"acceleration_raw":0.0,"estimated_torque_nm":-0.6880714297294617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013950702734291553,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033231616020203,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":6.979396857786924e-05,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":-0.01110641099512577,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068569607101380825,"velocity_rad_s":-0.0028988169506192207,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02236374281346798,"velocity_rad_s":0.0018425056478008628,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07709451764822006,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07908390462398529,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699482947587967,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08029431104660034,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787538645152,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809603,"imu":{"quaternion":[0.9931086301803589,0.0007440701592713594,0.01920386590063572,0.11561175435781479],"gyroscope":[0.004261057358235121,0.01810949295759201,-0.0063915858045220375],"accelerometer":[-0.4884171485900879,0.09696517139673233,9.708189010620117],"rpy":[0.005922574549913406,0.03798013553023338,0.2318972498178482],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344293475151062,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309774518013,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097805976867676,"velocity_rad_s":-0.0005509174079634249,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010500083677470684,"velocity_rad_s":-0.010210254229605198,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033316850662231,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":0.005334040150046349,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":0.0018077183049172163,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":0.001926662866026163,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":0.0036513819359242916,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07709451764822006,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07908390462398529,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699482947587967,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08029431104660034,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787540801440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809604,"imu":{"quaternion":[0.9931091666221619,0.0007509583374485373,0.01921093463897705,0.11560560017824173],"gyroscope":[0.0063915858045220375,0.008522114716470242,-0.009587379172444344],"accelerometer":[-0.3932476341724396,0.022445641458034515,9.772831916809082],"rpy":[0.005937668960541487,0.03799261897802353,0.2318851798772812],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34427642822265625,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309689283370972,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097681701183319,"velocity_rad_s":0.005286442115902901,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507413186132908,"velocity_rad_s":-0.009243601001799107,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013950702734291553,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033316850662231,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":0.009633843787014484,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":-0.0019290987402200699,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068569607101380825,"velocity_rad_s":-0.005804986227303743,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02236374281346798,"velocity_rad_s":0.009784660302102566,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07710650563240051,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07908390462398529,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699482947587967,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803062915802002,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787543311424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809605,"imu":{"quaternion":[0.9931096434593201,0.0007487672264687717,0.019211629405617714,0.11560137569904327],"gyroscope":[-0.0031957929022610188,0.008522114716470242,-0.009587379172444344],"accelerometer":[-0.3932476341724396,0.022445641458034515,9.772831916809082],"rpy":[0.00593331316486001,0.03799453377723694,0.23187661170959473],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34428495168685913,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015314241871237755,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309518814086914,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097723126411438,"velocity_rad_s":0.0026357967872172594,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010500138625502586,"velocity_rad_s":-0.008333338424563408,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013950702734291553,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033231616020203,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":0.008553076535463333,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":-6.936008139746264e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":-0.006766847334802151,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":0.0067390394397079945,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07710650563240051,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07908390462398529,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699482947587967,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803062915802002,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787545481600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809606,"imu":{"quaternion":[0.9931096434593201,0.0007487672264687717,0.019211629405617714,0.11560137569904327],"gyroscope":[-0.0031957929022610188,0.008522114716470242,-0.009587379172444344],"accelerometer":[-0.3932476341724396,0.022445641458034515,9.772831916809082],"rpy":[0.00593331316486001,0.03799453377723694,0.23187661170959473],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34428495168685913,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01534833014011383,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309689283370972,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097722828388214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010514632798731327,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01395922526717186,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603340208530426,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28514447808265686,"velocity_rad_s":0.010633183643221855,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002782153431326151,"velocity_rad_s":0.00916864164173603,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00898596178740263,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068569607101380825,"velocity_rad_s":-0.004846065305173397,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02236374281346798,"velocity_rad_s":0.015270140022039413,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07709451764822006,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07908390462398529,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699482947587967,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08029431104660034,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787547644768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809607,"imu":{"quaternion":[0.9931102395057678,0.0007455396698787808,0.01921219564974308,0.11559663712978363],"gyroscope":[-0.0053263213485479355,0.008522114716470242,-0.010652642697095871],"accelerometer":[-0.42018240690231323,0.07451952993869781,9.722554206848145],"rpy":[0.0059268479235470295,0.037996433675289154,0.2318669557571411],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34427642822265625,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309433579444885,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30976399779319763,"velocity_rad_s":0.0005286442465148866,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01051468774676323,"velocity_rad_s":-0.000924360123462975,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603340208530426,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851611077785492,"velocity_rad_s":0.01008116826415062,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027678317856043577,"velocity_rad_s":0.011949580162763596,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00898596178740263,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006864509545266628,"velocity_rad_s":-0.007743412163108587,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02235894463956356,"velocity_rad_s":0.015892716124653816,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07710650563240051,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16993631422519684,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26262232661247253,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803062915802002,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787549797472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809608,"imu":{"quaternion":[0.993110716342926,0.0007474120357073843,0.019217589870095253,0.11559169739484787],"gyroscope":[0.0053263213485479355,0.010652642697095871,-0.004261057358235121],"accelerometer":[-0.4246715307235718,0.11312603205442429,9.603142738342285],"rpy":[0.005931630730628967,0.038006749004125595,0.23185716569423676],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34426790475845337,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015339807607233524,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309348344802856,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097764551639557,"velocity_rad_s":0.001597069320268929,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507358238101006,"velocity_rad_s":0.0027942268643528223,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013942181132733822,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.603340208530426,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":0.00850654672831297,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":0.007334913592785597,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00898596178740263,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":-0.01160409115254879,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":0.014689601957798004,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07711848616600037,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07905993610620499,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16996027529239655,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08031827956438065,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787554516096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809609,"imu":{"quaternion":[0.993110716342926,0.0007474120357073843,0.019217589870095253,0.11559169739484787],"gyroscope":[0.0053263213485479355,0.010652642697095871,-0.004261057358235121],"accelerometer":[-0.4246715307235718,0.11312603205442429,9.603142738342285],"rpy":[0.005931630730628967,0.038006749004125595,0.23185716569423676],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34426790475845337,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015322763472795486,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309263110160828,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097681701183319,"velocity_rad_s":0.005316140130162239,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507413186132908,"velocity_rad_s":0.005602551158517599,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013916614465415478,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033487319946289,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515687584877014,"velocity_rad_s":0.008024325594305992,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027605693321675062,"velocity_rad_s":-0.0009905591141432524,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":-0.02221985161304474,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":0.010466087609529495,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07714245468378067,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699722707271576,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803062915802002,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787555211392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809610,"imu":{"quaternion":[0.9931107759475708,0.0007522189989686012,0.01922023482620716,0.11558990925550461],"gyroscope":[0.010652642697095871,0.010652642697095871,-0.004261057358235121],"accelerometer":[-0.4659714996814728,0.1041477769613266,9.752182006835938],"rpy":[0.005941730458289385,0.03801090270280838,0.23185372352600098],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34426790475845337,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015314241871237755,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008450286462903023,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309348344802856,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097764551639557,"velocity_rad_s":-0.0037079339381307364,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507358238101006,"velocity_rad_s":0.002758982591331005,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013925136998295784,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033572554588318,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.004805289208889008,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":0.000886519264895469,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":-0.016420748084783554,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":0.005561146419495344,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07715444266796112,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699722707271576,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08031827956438065,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787555881248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809611,"imu":{"quaternion":[0.9931115508079529,0.0007599578821100295,0.01922755502164364,0.11558216065168381],"gyroscope":[0.009587379172444344,0.012783171609044075,-0.008522114716470242],"accelerometer":[-0.4372410774230957,0.05835866555571556,9.663297653198242],"rpy":[0.005958512891083956,0.038023702800273895,0.23183853924274445],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442508578300476,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01534833014011383,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309348344802856,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097681701183319,"velocity_rad_s":-0.001585932681336999,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507413186132908,"velocity_rad_s":0.0027730802539736032,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013942181132733822,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28514447808265686,"velocity_rad_s":0.00905856303870678,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002782153431326151,"velocity_rad_s":0.004553976934403181,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849434692412615,"velocity_rad_s":-0.009661252610385418,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234947867691517,"velocity_rad_s":0.0049217562191188335,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07715444266796112,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07908390462398529,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16998425126075745,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803062915802002,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787558389248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809612,"imu":{"quaternion":[0.9931117296218872,0.0007617506198585033,0.01922883465886116,0.11558045446872711],"gyroscope":[0.004261057358235121,0.008522114716470242,-0.004261057358235121],"accelerometer":[-0.449810653924942,0.06015431880950928,9.57979965209961],"rpy":[0.005962307099252939,0.03802584111690521,0.23183520138263702],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442423343658447,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015314241871237755,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309348344802856,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097681701183319,"velocity_rad_s":-0.0010572884930297732,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507413186132908,"velocity_rad_s":0.00184872024692595,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28514862060546875,"velocity_rad_s":0.005345672834664583,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027749587316066027,"velocity_rad_s":-4.3350049963919446e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849434692412615,"velocity_rad_s":-0.0009692130843177438,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234947867691517,"velocity_rad_s":0.0030540279112756252,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842538356781006,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07715444266796112,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16998425126075745,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08031827956438065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787560551200,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809613,"imu":{"quaternion":[0.9931117296218872,0.0007617506198585033,0.01922883465886116,0.11558045446872711],"gyroscope":[0.004261057358235121,0.008522114716470242,-0.004261057358235121],"accelerometer":[-0.449810653924942,0.06015431880950928,9.57979965209961],"rpy":[0.005962307099252939,0.03802584111690521,0.23183520138263702],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34423381090164185,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015305719338357449,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008436894044280052,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309348344802856,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097681701183319,"velocity_rad_s":-0.0026580700650811195,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507413186132908,"velocity_rad_s":-0.0028012755792587996,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013925136998295784,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":-0.0015746209537610412,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":-0.004614666104316711,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006856983527541161,"velocity_rad_s":-0.0077184149995446205,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234468050301075,"velocity_rad_s":-0.004846089519560337,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07715444266796112,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699722707271576,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803302600979805,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787563955488,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809614,"imu":{"quaternion":[0.9931116104125977,0.0007648059981875122,0.019229277968406677,0.11558137089014053],"gyroscope":[0.0063915858045220375,0.0063915858045220375,0.0010652643395587802],"accelerometer":[-0.5377975702285767,0.07541735470294952,9.702801704406738],"rpy":[0.00596851808950305,0.03802600875496864,0.23183715343475342],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442508578300476,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015314241871237755,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309263110160828,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097681701183319,"velocity_rad_s":-0.002650645561516285,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507413186132908,"velocity_rad_s":0.000910262344405055,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.44921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033572554588318,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851569652557373,"velocity_rad_s":0.0005054863868281245,"acceleration_raw":0.0,"estimated_torque_nm":5.031252861022949,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002775026485323906,"velocity_rad_s":0.004623336251825094,"acceleration_raw":0.0,"estimated_torque_nm":1.1710797548294067,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849434692412615,"velocity_rad_s":-0.006760965567082167,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234947867691517,"velocity_rad_s":0.0018593204440549016,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07715444266796112,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16998425126075745,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08031827956438065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787564651680,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809615,"imu":{"quaternion":[0.9931113719940186,0.0007692062063142657,0.019228313118219376,0.11558382958173752],"gyroscope":[0.008522114716470242,0.0031957929022610188,0.004261057358235121],"accelerometer":[-0.5018845200538635,0.12389993667602539,9.665990829467773],"rpy":[0.005977134220302105,0.03802305832505226,0.2318422645330429],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34423381090164185,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015305719338357449,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309263110160828,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097723126411438,"velocity_rad_s":-0.008476869203150272,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010500138625502586,"velocity_rad_s":0.00551091693341732,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28514862060546875,"velocity_rad_s":0.0015978856245055795,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027749587316066027,"velocity_rad_s":0.00091252924175933,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009026138111948967,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006841885857284069,"velocity_rad_s":-0.008692039176821709,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022354276850819588,"velocity_rad_s":0.0018677277257665992,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07716642320156097,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17000821232795715,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08034224808216095,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787567483232,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809616,"imu":{"quaternion":[0.9931110143661499,0.0007708434131927788,0.01922869309782982,0.11558689922094345],"gyroscope":[0.0031957929022610188,0.0063915858045220375,0.0053263213485479355],"accelerometer":[-0.5018845200538635,0.12389993667602539,9.665990829467773],"rpy":[0.0059805940836668015,0.038023415952920914,0.23184852302074432],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442508578300476,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015305719338357449,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.630909264087677,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097681701183319,"velocity_rad_s":-0.001585932681336999,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010507413186132908,"velocity_rad_s":0.0027730802539736032,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033572554588318,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28514862060546875,"velocity_rad_s":0.0026670200750231743,"acceleration_raw":0.0,"estimated_torque_nm":5.032093048095703,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027749587316066027,"velocity_rad_s":0.0009038591524586082,"acceleration_raw":0.0,"estimated_torque_nm":1.274672508239746,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009026138111948967,"velocity_rad_s":-0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006864521186798811,"velocity_rad_s":-0.0019354855176061392,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022349413484334946,"velocity_rad_s":0.0036681967321783304,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07717841118574142,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16998425126075745,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803302600979805,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787570962816,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809617,"imu":{"quaternion":[0.993110716342926,0.0007703458541072905,0.019228868186473846,0.11558951437473297],"gyroscope":[-0.0010652643395587802,0.0063915858045220375,0.004261057358235121],"accelerometer":[-0.5018845200538635,0.07631517946720123,9.757569313049316],"rpy":[0.005979745648801327,0.03802386298775673,0.23185376822948456],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442423343658447,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01528867520391941,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309263110160828,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30976399779319763,"velocity_rad_s":-0.0021034404635429382,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01051468774676323,"velocity_rad_s":0.009264747612178326,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":5.537109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033572554588318,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":0.0031841390300542116,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":0.003676127176731825,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":-0.021252110600471497,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":0.008631989359855652,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045216482132673264,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07720237970352173,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07907191663980484,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685425281524658,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16998425126075745,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803302600979805,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787571677920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809618,"imu":{"quaternion":[0.9931105971336365,0.0007678821566514671,0.01923157460987568,0.11558951437473297],"gyroscope":[-0.004261057358235121,0.011717907153069973,-0.0010652643395587802],"accelerometer":[-0.5234323740005493,0.08798690885305405,9.695618629455566],"rpy":[0.005975476000458002,0.03802981227636337,0.23185372352600098],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442508578300476,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01528867520391941,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309177875518799,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097764849662781,"velocity_rad_s":-0.005829935427755117,"acceleration_raw":0.0,"estimated_torque_nm":8.227483749389648,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010492864064872265,"velocity_rad_s":0.0027448851615190506,"acceleration_raw":0.0,"estimated_torque_nm":-0.6880714297294617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.001104031573049724,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":-0.005561875645071268,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006856983527541161,"velocity_rad_s":-0.015445652417838573,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02234468050301075,"velocity_rad_s":-0.0023726008366793394,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04519251361489296,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07719039171934128,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07904794812202454,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17000821232795715,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08036621659994125,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787573758176,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809619,"imu":{"quaternion":[0.993110716342926,0.0007680197013542056,0.019235223531723022,0.11558789759874344],"gyroscope":[0.0010652643395587802,0.012783171609044075,-0.004261057358235121],"accelerometer":[-0.552162766456604,0.14903905987739563,9.717166900634766],"rpy":[0.005976533051580191,0.03803703933954239,0.2318505048751831],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442508578300476,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015271631069481373,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.630909264087677,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097764849662781,"velocity_rad_s":-0.0005397808272391558,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010492864064872265,"velocity_rad_s":-0.004642947111278772,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033572554588318,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.0010575022315606475,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":0.001842398545704782,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009039529599249363,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849423050880432,"velocity_rad_s":-0.018350351601839066,"acceleration_raw":0.0,"estimated_torque_nm":-1.5086060762405396,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359009832143784,"velocity_rad_s":0.0043496242724359035,"acceleration_raw":0.0,"estimated_torque_nm":-4.402836322784424,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21533255279064178,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07720237970352173,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07904794812202454,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26853054761886597,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1699962317943573,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626343071460724,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803542286157608,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787576172640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809620,"imu":{"quaternion":[0.9931111931800842,0.0007679520640522242,0.019240545108914375,0.11558361351490021],"gyroscope":[0.0010652643395587802,0.015978964045643806,-0.009587379172444344],"accelerometer":[-0.552162766456604,0.14903905987739563,9.717166900634766],"rpy":[0.005977467633783817,0.038047656416893005,0.23184196650981903],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442167639732361,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015271631069481373,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309007406234741,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097723126411438,"velocity_rad_s":0.00211828900501132,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010500138625502586,"velocity_rad_s":-0.0018416712991893291,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":0.00423000892624259,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":0.007369594182819128,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009039529599249363,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834336556494236,"velocity_rad_s":-0.02124769799411297,"acceleration_raw":0.0,"estimated_torque_nm":-1.5585964918136597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022359075024724007,"velocity_rad_s":0.004972199909389019,"acceleration_raw":0.0,"estimated_torque_nm":-4.4814863204956055,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00441019469872117,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14609968662261963,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07719039171934128,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07904794812202454,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1700202077627182,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.381249904632568,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0803542286157608,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787578576064,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809645,"imu":{"quaternion":[0.993111252784729,0.0008042434346862137,0.019345751032233238,0.11556465178728104],"gyroscope":[0.0063915858045220375,0.015978964045643806,-0.0053263213485479355],"accelerometer":[-0.45429977774620056,0.0314238965511322,9.81143856048584],"rpy":[0.006073255557566881,0.03824840486049652,0.231806680560112],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015194931998848915,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308666467666626,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097640573978424,"velocity_rad_s":0.0042402902618050575,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010485700331628323,"velocity_rad_s":-0.0018275738693773746,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033572554588318,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.012748188339173794,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":0.012853438965976238,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819238420575857,"velocity_rad_s":-0.008696450851857662,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022368671372532845,"velocity_rad_s":0.005527517292648554,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2685185372829437,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17008012533187866,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787580661120,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809646,"imu":{"quaternion":[0.9931116104125977,0.0008036276558414102,0.01935216598212719,0.1155603900551796],"gyroscope":[-0.0,0.01810949295759201,-0.009587379172444344],"accelerometer":[-0.43364977836608887,0.02693476900458336,9.791686058044434],"rpy":[0.00607335427775979,0.03826132044196129,0.23179814219474792],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015194931998848915,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008436894044280052,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308751702308655,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097599148750305,"velocity_rad_s":-0.0021442745346575975,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01049297396093607,"velocity_rad_s":-0.011148711666464806,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014010357670485973,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851569652557373,"velocity_rad_s":0.008471650071442127,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002775026485323906,"velocity_rad_s":0.01288811955600977,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819238420575857,"velocity_rad_s":-0.0038680299185216427,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022368671372532845,"velocity_rad_s":0.00489653367549181,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07723832875490189,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17009210586547852,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26264628767967224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787582421056,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809647,"imu":{"quaternion":[0.9931119680404663,0.0008027950534597039,0.01936064101755619,0.11555562168359756],"gyroscope":[-0.0,0.02237055078148842,-0.010652642697095871],"accelerometer":[-0.44532153010368347,0.14006079733371735,9.729736328125],"rpy":[0.006073479540646076,0.038278382271528244,0.23178863525390625],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015186409465968609,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308666467666626,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097599148750305,"velocity_rad_s":-0.0010684250155463815,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01049297396093607,"velocity_rad_s":-0.0037185868714004755,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01401888020336628,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":0.017506949603557587,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":0.021144233644008636,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009119881317019463,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00682678772136569,"velocity_rad_s":-0.0028958760667592287,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022363873198628426,"velocity_rad_s":-0.0005973538500256836,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005632585845887661,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04520449787378311,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07723832875490189,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17010408639907837,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787584510368,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809648,"imu":{"quaternion":[0.9931121468544006,0.0008016786887310445,0.019367961212992668,0.11555297672748566],"gyroscope":[-0.0010652643395587802,0.020240021869540215,-0.0063915858045220375],"accelerometer":[-0.45160630345344543,0.15891513228416443,9.736919403076172],"rpy":[0.006072854157537222,0.03829319775104523,0.23178339004516602],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3442082405090332,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015169365331530571,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308666467666626,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30975988507270813,"velocity_rad_s":-0.000532356440089643,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01050746813416481,"velocity_rad_s":-0.0009314089547842741,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014027401804924011,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516945242881775,"velocity_rad_s":0.008942239917814732,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002767899539321661,"velocity_rad_s":0.023064661771059036,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009119881317019463,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068267760798335075,"velocity_rad_s":-2.940856575150974e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02237340435385704,"velocity_rad_s":0.0024398595560342073,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17011608183383942,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787587800480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809649,"imu":{"quaternion":[0.9931120276451111,0.0008020143723115325,0.019373245537281036,0.11555346846580505],"gyroscope":[0.0010652643395587802,0.015978964045643806,-0.0],"accelerometer":[-0.45160630345344543,0.15891513228416443,9.736919403076172],"rpy":[0.006074764300137758,0.038303621113300323,0.23178446292877197],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01516084372997284,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308581233024597,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097599148750305,"velocity_rad_s":0.002632084535434842,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01049297396093607,"velocity_rad_s":-0.010189107619225979,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3559858202934265,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01401888020336628,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851611077785492,"velocity_rad_s":0.008471650071442127,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027678317856043577,"velocity_rad_s":0.01288811955600977,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819238420575857,"velocity_rad_s":-0.005791752133518457,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022368671372532845,"velocity_rad_s":-0.0011947077000513673,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765106439590454,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17011608183383942,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26267024874687195,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787589893536,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809650,"imu":{"quaternion":[0.993111789226532,0.0008014992345124483,0.01937689818441868,0.11555502563714981],"gyroscope":[-0.0010652643395587802,0.012783171609044075,0.0021305286791175604],"accelerometer":[-0.5629366636276245,0.11671733111143112,9.733327865600586],"rpy":[0.006074646953493357,0.03831098973751068,0.23178766667842865],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015152321197092533,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.630841076374054,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097640573978424,"velocity_rad_s":-0.0016044938238337636,"acceleration_raw":0.0,"estimated_torque_nm":8.227483749389648,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010485700331628323,"velocity_rad_s":-0.0065057650208473206,"acceleration_raw":0.0,"estimated_torque_nm":-0.6880714297294617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014010357670485973,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851652204990387,"velocity_rad_s":0.00468896608799696,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027606370858848095,"velocity_rad_s":0.019397204741835594,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819238420575857,"velocity_rad_s":-0.006750672589987516,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022368671372532845,"velocity_rad_s":-0.006680188234895468,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07725031673908234,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17011608183383942,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.368750095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787596180288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809651,"imu":{"quaternion":[0.9931113719940186,0.0008007185533642769,0.019382618367671967,0.11555713415145874],"gyroscope":[-0.0010652643395587802,0.017044229432940483,0.0031957929022610188],"accelerometer":[-0.449810653924942,0.07631517946720123,9.777320861816406],"rpy":[0.006074502598494291,0.03832251951098442,0.23179194331169128],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015126754529774189,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.630841076374054,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30975577235221863,"velocity_rad_s":0.0068909358233213425,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010485737584531307,"velocity_rad_s":-0.002737835980951786,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014010357670485973,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515687584877014,"velocity_rad_s":0.005287511274218559,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027605693321675062,"velocity_rad_s":0.009211992844939232,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834324914962053,"velocity_rad_s":-0.001926662866026163,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02236860617995262,"velocity_rad_s":-0.0036513819359242916,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07903596758842468,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17010408639907837,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26267024874687195,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787596853568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809651,"imu":{"quaternion":[0.9931113123893738,0.0007987394346855581,0.019388647750020027,0.11555716395378113],"gyroscope":[-0.0031957929022610188,0.01810949295759201,-0.0010652643395587802],"accelerometer":[-0.3941454589366913,0.08529343456029892,9.734225273132324],"rpy":[0.006071966607123613,0.038334958255290985,0.23179204761981964],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01516084372997284,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308495998382568,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097599148750305,"velocity_rad_s":0.00423657801002264,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01049297396093607,"velocity_rad_s":-0.0036833425983786583,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01401888020336628,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033657789230347,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851569652557373,"velocity_rad_s":0.005781365558505058,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002775026485323906,"velocity_rad_s":0.0156863983720541,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819238420575857,"velocity_rad_s":-0.0028899942990392447,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022368671372532845,"velocity_rad_s":-0.005477072671055794,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07723832875490189,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17011608183383942,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626582682132721,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787600296128,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809652,"imu":{"quaternion":[0.9931115508079529,0.0007961330120451748,0.01939401589334011,0.11555404216051102],"gyroscope":[-0.004261057358235121,0.017044229432940483,-0.0074568502604961395],"accelerometer":[-0.41030630469322205,0.03770867735147476,9.868001937866211],"rpy":[0.006067908834666014,0.038346245884895325,0.23178571462631226],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01516084372997284,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308325529098511,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30976402759552,"velocity_rad_s":0.001597069320268929,"acceleration_raw":0.0,"estimated_torque_nm":8.227483749389648,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010500193573534489,"velocity_rad_s":0.0027942268643528223,"acceleration_raw":0.0,"estimated_torque_nm":-0.6880714297294617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851652204990387,"velocity_rad_s":0.0004705893516074866,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027606370858848095,"velocity_rad_s":0.010176541283726692,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834324914962053,"velocity_rad_s":0.007728708442300558,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02236860617995262,"velocity_rad_s":-0.003693418810144067,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14607572555541992,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07725031673908234,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17010408639907837,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2627061903476715,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.800000011920929,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787602396384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809653,"imu":{"quaternion":[0.9931115508079529,0.0007961330120451748,0.01939401589334011,0.11555404216051102],"gyroscope":[-0.004261057358235121,0.017044229432940483,-0.0074568502604961395],"accelerometer":[-0.41030630469322205,0.03770867735147476,9.868001937866211],"rpy":[0.006067908834666014,0.038346245884895325,0.23178571462631226],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34419119358062744,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015143798664212227,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308155059814453,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30975577235221863,"velocity_rad_s":0.0058262231759727,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010485737584531307,"velocity_rad_s":-0.004600653890520334,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014010357670485973,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515687584877014,"velocity_rad_s":0.004218376707285643,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027605693321675062,"velocity_rad_s":0.009220662526786327,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00682678772136569,"velocity_rad_s":0.0019398968433961272,"acceleration_raw":0.0,"estimated_torque_nm":-1.6072181463241577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022363873198628426,"velocity_rad_s":-0.00732798594981432,"acceleration_raw":0.0,"estimated_torque_nm":-4.245776176452637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14605174958705902,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04524045065045357,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.75,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07727428525686264,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17012806236743927,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2626822292804718,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7875000238418579,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787604458144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809654,"imu":{"quaternion":[0.9931120872497559,0.0007975413464009762,0.019402187317609787,0.11554808914661407],"gyroscope":[0.0031957929022610188,0.013848436065018177,-0.0053263213485479355],"accelerometer":[-0.48482584953308105,0.10594342648983002,9.754875183105469],"rpy":[0.006072372198104858,0.03836219385266304,0.23177391290664673],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015143798664212227,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.630841076374054,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097640573978424,"velocity_rad_s":0.005837359931319952,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010485700331628323,"velocity_rad_s":0.0009666529367677867,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014010357670485973,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033743023872375,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.007908002473413944,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":0.017520125955343246,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006811689585447311,"velocity_rad_s":-0.007721355650573969,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022373469546437263,"velocity_rad_s":-0.0024062299635261297,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.284217894077301,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26850655674934387,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17011608183383942,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2627061903476715,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787606276544,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809655,"imu":{"quaternion":[0.9931119680404663,0.0007998066721484065,0.019408103078603745,0.11554799228906631],"gyroscope":[0.0053263213485479355,0.017044229432940483,-0.0010652643395587802],"accelerometer":[-0.512658417224884,0.16879121959209442,9.67766284942627],"rpy":[0.0060782418586313725,0.0383734256029129,0.23177388310432434],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34418267011642456,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015135277062654495,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308240294456482,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097681999206543,"velocity_rad_s":0.0005397808272391558,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010492919012904167,"velocity_rad_s":0.004642947111278772,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014010357670485973,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033828258514404,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515705466270447,"velocity_rad_s":0.008907342329621315,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002789483405649662,"velocity_rad_s":0.028617866337299347,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819238420575857,"velocity_rad_s":0.007727237418293953,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022368671372532845,"velocity_rad_s":-0.0024734889157116413,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2684706151485443,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17012806236743927,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26269420981407166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.337500095367432,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787608459264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809656,"imu":{"quaternion":[0.9931119680404663,0.0007998066721484065,0.019408103078603745,0.11554799228906631],"gyroscope":[0.0053263213485479355,0.017044229432940483,-0.0010652643395587802],"accelerometer":[-0.512658417224884,0.16879121959209442,9.67766284942627],"rpy":[0.0060782418586313725,0.0383734256029129,0.23177388310432434],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015152321197092533,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008436894044280052,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308155059814453,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097599148750305,"velocity_rad_s":0.0026654943358153105,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01049297396093607,"velocity_rad_s":0.006512813735753298,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.002115004463121295,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":0.003684797091409564,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819238420575857,"velocity_rad_s":7.352141892624786e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022368671372532845,"velocity_rad_s":-0.0060996487736701965,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07723832875490189,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26848259568214417,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17012806236743927,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26271817088127136,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.324999809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787610606432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809657,"imu":{"quaternion":[0.9931120276451111,0.0008017313666641712,0.019412439316511154,0.11554738134145737],"gyroscope":[0.004261057358235121,0.013848436065018177,-0.0021305286791175604],"accelerometer":[-0.536899745464325,0.13108254969120026,9.730634689331055],"rpy":[0.006083047483116388,0.03838159888982773,0.23177281022071838],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441741466522217,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015143798664212227,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308069825172424,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30975577235221863,"velocity_rad_s":0.00477635907009244,"acceleration_raw":0.0,"estimated_torque_nm":8.228170394897461,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010485737584531307,"velocity_rad_s":0.0009596043964847922,"acceleration_raw":0.0,"estimated_torque_nm":-0.7913979291915894,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.0010691345669329166,"acceleration_raw":0.0,"estimated_torque_nm":5.210610389709473,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":-8.67001017468283e-06,"acceleration_raw":0.0,"estimated_torque_nm":1.1722068786621094,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068267760798335075,"velocity_rad_s":4.411284862726461e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02237340435385704,"velocity_rad_s":-0.003659789217635989,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14603976905345917,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26845863461494446,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17014004290103912,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26271817088127136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.356249809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787613025440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809658,"imu":{"quaternion":[0.9931122064590454,0.0008053602650761604,0.01942112110555172,0.11554349958896637],"gyroscope":[0.0031957929022610188,0.012783171609044075,-0.0053263213485479355],"accelerometer":[-0.4821323752403259,0.2388216257095337,9.742305755615234],"rpy":[0.006092122755944729,0.038398031145334244,0.23176522552967072],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441570997238159,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015135277062654495,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6307728886604309,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30975577235221863,"velocity_rad_s":0.003715358441695571,"acceleration_raw":0.0,"estimated_torque_nm":8.228170394897461,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010485737584531307,"velocity_rad_s":0.0009525555069558322,"acceleration_raw":0.0,"estimated_torque_nm":-0.7913979291915894,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.008001061156392097,"acceleration_raw":0.0,"estimated_torque_nm":5.210610389709473,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":0.0027115782722830772,"acceleration_raw":0.0,"estimated_torque_nm":1.1722068786621094,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00682678772136569,"velocity_rad_s":-0.004825479816645384,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022363873198628426,"velocity_rad_s":-0.001808876171708107,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21529661118984222,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005656554363667965,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07725031673908234,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2684706151485443,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17014004290103912,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26276612281799316,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.324999809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787615197920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809659,"imu":{"quaternion":[0.9931121468544006,0.0008065167930908501,0.019425353035330772,0.1155434399843216],"gyroscope":[0.0021305286791175604,0.013848436065018177,-0.0010652643395587802],"accelerometer":[-0.46327802538871765,0.15083470940589905,9.81951904296875],"rpy":[0.006095400080084801,0.03840617090463638,0.23176521062850952],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3441570997238159,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015118232928216457,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6307984590530396,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097640573978424,"velocity_rad_s":0.0031681533437222242,"acceleration_raw":0.0,"estimated_torque_nm":8.228170394897461,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010485700331628323,"velocity_rad_s":-0.0074019297026097775,"acceleration_raw":0.0,"estimated_torque_nm":-0.7913979291915894,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851652204990387,"velocity_rad_s":0.0005171187804080546,"acceleration_raw":0.0,"estimated_torque_nm":5.210610389709473,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027606370858848095,"velocity_rad_s":0.0027722676750272512,"acceleration_raw":0.0,"estimated_torque_nm":1.1722068786621094,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006834324914962053,"velocity_rad_s":0.0009648018749430776,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02236860617995262,"velocity_rad_s":0.0006057611899450421,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010414292104542255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26845863461494446,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17012806236743927,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.262778103351593,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.762499988079071,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787617338272,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809660,"imu":{"quaternion":[0.9931121468544006,0.0008065167930908501,0.019425353035330772,0.1155434399843216],"gyroscope":[0.0021305286791175604,0.013848436065018177,-0.0010652643395587802],"accelerometer":[-0.46327802538871765,0.15083470940589905,9.81951904296875],"rpy":[0.006095400080084801,0.03840617090463638,0.23176521062850952],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34414857625961304,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015126754529774189,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6307814121246338,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309755802154541,"velocity_rad_s":0.002632084535434842,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010471243411302567,"velocity_rad_s":-0.010189107619225979,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35597729682922363,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034083962440491,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28515273332595825,"velocity_rad_s":0.00423000892624259,"acceleration_raw":0.0,"estimated_torque_nm":5.210610389709473,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027677640318870544,"velocity_rad_s":0.007369594182819128,"acceleration_raw":0.0,"estimated_torque_nm":1.1722068786621094,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068267760798335075,"velocity_rad_s":0.0019296037498861551,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.02237340435385704,"velocity_rad_s":0.0012115223798900843,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21532057225704193,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.976546585559845,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14608770608901978,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010390323586761951,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.19374999403953552,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07726229727268219,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07901199907064438,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2684466540813446,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17014004290103912,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.26279008388519287,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.324999809265137,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08039018511772156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7437499761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787619093984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809661,"imu":{"quaternion":[0.9931119680404663,0.0008089662296697497,0.01942756399512291,0.11554493010044098],"gyroscope":[0.004261057358235121,0.009587379172444344,0.0021305286791175604],"accelerometer":[-0.456095427274704,0.0727238729596138,9.686640739440918],"rpy":[0.0061008380725979805,0.038409993052482605,0.23176835477352142],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34414857625961304,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015109710395336151,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6307387948036194,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30975162982940674,"velocity_rad_s":0.004229153972119093,"acceleration_raw":0.0,"estimated_torque_nm":8.228170394897461,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010478517971932888,"velocity_rad_s":-0.0073948809877038,"acceleration_raw":0.0,"estimated_torque_nm":-0.7913979291915894,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033998727798462,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.0021499013528227806,"acceleration_raw":0.0,"estimated_torque_nm":5.210610389709473,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":-0.0018684084061533213,"acceleration_raw":0.0,"estimated_torque_nm":1.1722068786621094,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009173448197543621,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.5660511255264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006819238420575857,"velocity_rad_s":2.940856575150974e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.6079024076461792,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022368671372532845,"velocity_rad_s":-0.0024398595560342073,"acceleration_raw":0.0,"estimated_torque_nm":-4.402956008911133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010426276363432407,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.045228466391563416,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07725031673908234,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07900001108646393,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.2684226632118225,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17012806236743927,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2628140449523926,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787599836640,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":28672,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 176, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 443, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 313, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 6919105, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":176,"normal_force2":0,"normal_force3":0,"self_proximity1":6919105,"self_proximity2":0,"status":18688,"tangential_direction1":313,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":443,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 281, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 327, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 5, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 6162155, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":281,"normal_force2":0,"normal_force3":0,"self_proximity1":6162155,"self_proximity2":0,"status":16128,"tangential_direction1":5,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":327,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 76, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 30, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 0, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 4001350, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":76,"normal_force2":0,"normal_force3":0,"self_proximity1":4001350,"self_proximity2":0,"status":16128,"tangential_direction1":0,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":30,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 138, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 539, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 90, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 4921122, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":138,"normal_force2":0,"normal_force3":0,"self_proximity1":4921122,"self_proximity2":0,"status":29184,"tangential_direction1":90,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":539,"tangential_force2":0,"tangential_force3":0}],"touch_metric":539.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":787620265664,"stream":"brainco.motor","data":{"currents":[11,-101,17,1,-15,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [11, -101, 17, 1, -15, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":787620779456,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":539.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.03953470614711934}} +{"timestamp_monotonic_ns":787622385440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809662,"imu":{"quaternion":[0.9931116104125977,0.000810036959592253,0.019427580758929253,0.1155480146408081],"gyroscope":[-0.0,0.0053263213485479355,0.0010652643395587802],"accelerometer":[-0.46327802538871765,0.15981295704841614,9.673172950744629],"rpy":[0.006103090010583401,0.0384097583591938,0.23177461326122284],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34414857625961304,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015143798664212227,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6307473182678223,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3097599148750305,"velocity_rad_s":0.001035015215165913,"acceleration_raw":0.0,"estimated_torque_nm":8.228170394897461,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010478463023900986,"velocity_rad_s":-0.012983334250748158,"acceleration_raw":0.0,"estimated_torque_nm":-0.7913979291915894,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35596877336502075,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01401888020336628,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033913493156433,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":0.0010691345669329166,"acceleration_raw":0.0,"estimated_torque_nm":5.210610389709473,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":-8.67001017468283e-06,"acceleration_raw":0.0,"estimated_torque_nm":1.1722068786621094,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00682678772136569,"velocity_rad_s":0.0029017578344792128,"acceleration_raw":0.0,"estimated_torque_nm":-1.6572084426879883,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.022363873198628426,"velocity_rad_s":-0.004282365087419748,"acceleration_raw":0.0,"estimated_torque_nm":-4.324426174163818,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2842298746109009,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004434163216501474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765346050262451,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14606373012065887,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010402307845652103,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005644570104777813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.04525243490934372,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.07723832875490189,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07900001108646393,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.26841068267822266,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-8.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.17014004290103912,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2628500163555145,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.300000190734863,"temperature_raw":[47,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08040216565132141,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.7749999761581421,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787624551616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809694,"imu":{"quaternion":[0.9930989146232605,0.0008637349819764495,0.01986786723136902,0.1155811995267868],"gyroscope":[0.08096008747816086,0.5624595284461975,0.014913700520992279],"accelerometer":[8.111854553222656,3.4018614292144775,15.33037281036377],"rpy":[0.006313162390142679,0.039271946996450424,0.23185020685195923],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34465140104293823,"velocity_rad_s":-0.11453723162412643,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014828480780124664,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":50.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629503071308136,"velocity_rad_s":-0.42324236035346985,"acceleration_raw":0.0,"estimated_torque_nm":-5.361328125,"temperature_raw":[38,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30941683053970337,"velocity_rad_s":0.078849658370018,"acceleration_raw":0.0,"estimated_torque_nm":8.227483749389648,"temperature_raw":[39,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010038563050329685,"velocity_rad_s":-0.09690273553133011,"acceleration_raw":0.0,"estimated_torque_nm":-0.6880714297294617,"temperature_raw":[40,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3584742546081543,"velocity_rad_s":-0.43305981159210205,"acceleration_raw":0.0,"estimated_torque_nm":6.767578125,"temperature_raw":[36,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0025980276986956596,"velocity_rad_s":-0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6027436852455139,"velocity_rad_s":-0.29452431201934814,"acceleration_raw":0.0,"estimated_torque_nm":-5.361328125,"temperature_raw":[37,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2851186990737915,"velocity_rad_s":0.0130389966070652,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0026662759482860565,"velocity_rad_s":-0.03342327103018761,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005430090706795454,"velocity_rad_s":-0.25166913866996765,"acceleration_raw":0.0,"estimated_torque_nm":-0.2481663078069687,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01582775078713894,"velocity_rad_s":-0.8684083819389343,"acceleration_raw":0.0,"estimated_torque_nm":-0.07844733446836472,"temperature_raw":[42,42],"voltage_raw":50.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28576385974884033,"velocity_rad_s":0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21578796207904816,"velocity_rad_s":0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004697816446423531,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.978116512298584,"velocity_rad_s":0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.014429006725549698,"velocity_rad_s":0.7669904232025146,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006231796927750111,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.028929919004440308,"velocity_rad_s":0.8452234268188477,"acceleration_raw":0.0,"estimated_torque_nm":28.875,"temperature_raw":[43,45],"voltage_raw":51.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09142765402793884,"velocity_rad_s":-1.104466199874878,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[40,40],"voltage_raw":50.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07620768994092941,"velocity_rad_s":0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[42,41],"voltage_raw":50.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.34818968176841736,"velocity_rad_s":10.11660385131836,"acceleration_raw":0.0,"estimated_torque_nm":28.5,"temperature_raw":[44,46],"voltage_raw":50.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16339293122291565,"velocity_rad_s":-1.0983302593231201,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[42,39],"voltage_raw":50.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.31391480565071106,"velocity_rad_s":-9.590448379516602,"acceleration_raw":0.0,"estimated_torque_nm":3.362499952316284,"temperature_raw":[47,40],"voltage_raw":50.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.08025835454463959,"velocity_rad_s":0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":0.29374998807907104,"temperature_raw":[39,36],"voltage_raw":50.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787626689632,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809695,"imu":{"quaternion":[0.9930927157402039,0.000854484795127064,0.020169697701931,0.1155833750963211],"gyroscope":[0.06924217939376831,0.7009439468383789,0.0021305286791175604],"accelerometer":[1.8082208633422852,8.09210205078125,-1.7687164545059204],"rpy":[0.006364829838275909,0.039873793721199036,0.2318589687347412],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34483036398887634,"velocity_rad_s":-0.12108222395181656,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014930746518075466,"velocity_rad_s":-0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6291195750236511,"velocity_rad_s":-0.4766930639743805,"acceleration_raw":0.0,"estimated_torque_nm":-5.09765625,"temperature_raw":[38,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30937549471855164,"velocity_rad_s":0.07249107956886292,"acceleration_raw":0.0,"estimated_torque_nm":8.228170394897461,"temperature_raw":[39,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009980827569961548,"velocity_rad_s":-0.09323349595069885,"acceleration_raw":0.0,"estimated_torque_nm":-0.7913979291915894,"temperature_raw":[40,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35894298553466797,"velocity_rad_s":-0.3632466793060303,"acceleration_raw":0.0,"estimated_torque_nm":6.85546875,"temperature_raw":[36,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6024197936058044,"velocity_rad_s":-0.37633663415908813,"acceleration_raw":0.0,"estimated_torque_nm":-4.921875,"temperature_raw":[37,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28511014580726624,"velocity_rad_s":0.019453804939985275,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002637276193127036,"velocity_rad_s":-0.03347529470920563,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004683203995227814,"velocity_rad_s":-0.3512842059135437,"acceleration_raw":0.0,"estimated_torque_nm":0.09870199114084244,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.014724589884281158,"velocity_rad_s":-0.8135948181152344,"acceleration_raw":0.0,"estimated_torque_nm":-0.156449556350708,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2859915494918823,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21649502217769623,"velocity_rad_s":0.3267379105091095,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004841627087444067,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9783801436424255,"velocity_rad_s":0.2377670258283615,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.015040202997624874,"velocity_rad_s":0.7424467206001282,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006219812668859959,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03183010220527649,"velocity_rad_s":-0.44025251269340515,"acceleration_raw":0.0,"estimated_torque_nm":29.625,"temperature_raw":[43,45],"voltage_raw":51.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09098424017429352,"velocity_rad_s":-0.4832039773464203,"acceleration_raw":0.0,"estimated_torque_nm":-9.0,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07720237970352173,"velocity_rad_s":0.5460971593856812,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[42,41],"voltage_raw":50.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3564468026161194,"velocity_rad_s":10.107399940490723,"acceleration_raw":0.0,"estimated_torque_nm":28.125,"temperature_raw":[44,46],"voltage_raw":50.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16213458776474,"velocity_rad_s":-1.2563303709030151,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[42,39],"voltage_raw":50.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3236100375652313,"velocity_rad_s":-11.204195976257324,"acceleration_raw":0.0,"estimated_torque_nm":3.737499952316284,"temperature_raw":[47,40],"voltage_raw":50.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07979097217321396,"velocity_rad_s":0.5092816352844238,"acceleration_raw":0.0,"estimated_torque_nm":0.2562499940395355,"temperature_raw":[39,36],"voltage_raw":50.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787628369920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809696,"imu":{"quaternion":[0.9930853247642517,0.0008180288132280111,0.02047901600599289,0.11559251695871353],"gyroscope":[0.023435814306139946,0.7190533876419067,0.014913700520992279],"accelerometer":[3.7924153804779053,-5.448903560638428,12.981660842895508],"rpy":[0.006364446599036455,0.04049677401781082,0.231880784034729],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449070453643799,"velocity_rad_s":-0.12435471266508102,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014990401454269886,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00839671865105629,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6284037232398987,"velocity_rad_s":-0.5094180107116699,"acceleration_raw":0.0,"estimated_torque_nm":-4.833984375,"temperature_raw":[38,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093341588973999,"velocity_rad_s":0.07197728008031845,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009923109784722328,"velocity_rad_s":-0.08488605171442032,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.359241247177124,"velocity_rad_s":-0.3752458095550537,"acceleration_raw":0.0,"estimated_torque_nm":6.943359375,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6016698479652405,"velocity_rad_s":-0.4559672772884369,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28512293100357056,"velocity_rad_s":0.008657767437398434,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002673538401722908,"velocity_rad_s":-0.016728976741433144,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.15256047248840332,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004487285390496254,"velocity_rad_s":-0.3377443552017212,"acceleration_raw":0.0,"estimated_torque_nm":0.29704686999320984,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01412222906947136,"velocity_rad_s":-0.820985734462738,"acceleration_raw":0.0,"estimated_torque_nm":-0.15630118548870087,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28623124957084656,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21649502217769623,"velocity_rad_s":0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004841627087444067,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789913892745972,"velocity_rad_s":0.31753402948379517,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.015591477043926716,"velocity_rad_s":0.748582661151886,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006231796927750111,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.033615753054618835,"velocity_rad_s":-0.9188545346260071,"acceleration_raw":0.0,"estimated_torque_nm":29.0625,"temperature_raw":[43,45],"voltage_raw":51.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09122392535209656,"velocity_rad_s":-0.44025251269340515,"acceleration_raw":0.0,"estimated_torque_nm":-8.8125,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07895207405090332,"velocity_rad_s":0.8160778284072876,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3706481158733368,"velocity_rad_s":9.881904602050781,"acceleration_raw":0.0,"estimated_torque_nm":25.5625,"temperature_raw":[44,46],"voltage_raw":50.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.16069647669792175,"velocity_rad_s":-1.41586434841156,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[42,39],"voltage_raw":50.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3342520296573639,"velocity_rad_s":-13.008157730102539,"acceleration_raw":0.0,"estimated_torque_nm":4.081250190734863,"temperature_raw":[47,40],"voltage_raw":50.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07905993610620499,"velocity_rad_s":0.7915341258049011,"acceleration_raw":0.0,"estimated_torque_nm":0.17499999701976776,"temperature_raw":[39,36],"voltage_raw":50.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787633481824,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809697,"imu":{"quaternion":[0.9930853247642517,0.0008180288132280111,0.02047901600599289,0.11559251695871353],"gyroscope":[0.023435814306139946,0.7190533876419067,0.014913700520992279],"accelerometer":[3.7924153804779053,-5.448903560638428,12.981660842895508],"rpy":[0.006364446599036455,0.04049677401781082,0.231880784034729],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34497523307800293,"velocity_rad_s":-0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015033011324703693,"velocity_rad_s":-0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008369934745132923,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6280628442764282,"velocity_rad_s":-0.5137813091278076,"acceleration_raw":0.0,"estimated_torque_nm":-4.833984375,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3092387914657593,"velocity_rad_s":0.08793313056230545,"acceleration_raw":0.0,"estimated_torque_nm":8.13746452331543,"temperature_raw":[39,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009945501573383808,"velocity_rad_s":-0.06436686217784882,"acceleration_raw":0.0,"estimated_torque_nm":-0.7395539283752441,"temperature_raw":[40,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35953953862190247,"velocity_rad_s":-0.3752458095550537,"acceleration_raw":0.0,"estimated_torque_nm":6.943359375,"temperature_raw":[36,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002611419651657343,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.601405680179596,"velocity_rad_s":-0.41342487931251526,"acceleration_raw":0.0,"estimated_torque_nm":-4.74609375,"temperature_raw":[37,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28516101837158203,"velocity_rad_s":-0.008704297244548798,"acceleration_raw":0.0,"estimated_torque_nm":5.121351718902588,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002753374632447958,"velocity_rad_s":0.02413325197994709,"acceleration_raw":0.0,"estimated_torque_nm":1.2234396934509277,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008691340684890747,"velocity_rad_s":0.22626948356628418,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004278973676264286,"velocity_rad_s":-0.3466721773147583,"acceleration_raw":0.0,"estimated_torque_nm":0.34668150544166565,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.013551624491810799,"velocity_rad_s":-0.818486750125885,"acceleration_raw":0.0,"estimated_torque_nm":-0.0813591405749321,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2864709198474884,"velocity_rad_s":0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21645908057689667,"velocity_rad_s":0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004817658569663763,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791951179504395,"velocity_rad_s":0.29759228229522705,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14562031626701355,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.016933709383010864,"velocity_rad_s":0.8713011145591736,"acceleration_raw":0.0,"estimated_torque_nm":-0.26875001192092896,"temperature_raw":[43,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0062677497044205666,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03458647429943085,"velocity_rad_s":-1.0108933448791504,"acceleration_raw":0.0,"estimated_torque_nm":28.375,"temperature_raw":[43,45],"voltage_raw":51.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09224258363246918,"velocity_rad_s":-0.6734175682067871,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0797310471534729,"velocity_rad_s":0.8651651740074158,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[42,41],"voltage_raw":50.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.3804751932621002,"velocity_rad_s":10.452545166015625,"acceleration_raw":0.0,"estimated_torque_nm":24.3125,"temperature_raw":[44,46],"voltage_raw":50.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15762852132320404,"velocity_rad_s":-1.7241945266723633,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,39],"voltage_raw":50.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.34549322724342346,"velocity_rad_s":-14.173982620239258,"acceleration_raw":0.0,"estimated_torque_nm":4.287499904632568,"temperature_raw":[47,40],"voltage_raw":50.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07801730930805206,"velocity_rad_s":1.1106021404266357,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[39,36],"voltage_raw":50.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787635290144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809698,"imu":{"quaternion":[0.99306720495224,0.0007447940297424793,0.020997878164052963,0.11565527319908142],"gyroscope":[0.004261057358235121,0.6029396057128906,0.06924217939376831],"accelerometer":[12.178107261657715,3.1657330989837646,17.833511352539062],"rpy":[0.0063418056815862656,0.04154428094625473,0.2320125252008438],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3450348973274231,"velocity_rad_s":-0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015033011324703693,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008383326232433319,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6277645826339722,"velocity_rad_s":-0.47014808654785156,"acceleration_raw":0.0,"estimated_torque_nm":-4.306640625,"temperature_raw":[38,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3090857267379761,"velocity_rad_s":0.1112380176782608,"acceleration_raw":0.0,"estimated_torque_nm":8.589622497558594,"temperature_raw":[39,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009808793663978577,"velocity_rad_s":-0.0827694833278656,"acceleration_raw":0.0,"estimated_torque_nm":-0.7921209335327148,"temperature_raw":[40,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3598122298717499,"velocity_rad_s":-0.36760997772216797,"acceleration_raw":0.0,"estimated_torque_nm":7.734375,"temperature_raw":[36,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6011756062507629,"velocity_rad_s":-0.36760997772216797,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2850740849971771,"velocity_rad_s":0.019999485462903976,"acceleration_raw":0.0,"estimated_torque_nm":5.661104679107666,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002875584177672863,"velocity_rad_s":0.049814123660326004,"acceleration_raw":0.0,"estimated_torque_nm":1.4340065717697144,"temperature_raw":[40,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008423502556979656,"velocity_rad_s":0.16970211267471313,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004039227031171322,"velocity_rad_s":-0.32030588388442993,"acceleration_raw":0.0,"estimated_torque_nm":0.3468344807624817,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.012999552302062511,"velocity_rad_s":-0.7945167422294617,"acceleration_raw":0.0,"estimated_torque_nm":-0.5494971871376038,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28683045506477356,"velocity_rad_s":0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21647106111049652,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00490154791623354,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.97954261302948,"velocity_rad_s":0.3436117172241211,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14564429223537445,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.017712684348225594,"velocity_rad_s":0.9633399844169617,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006555370986461639,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03474226966500282,"velocity_rad_s":-0.8160778284072876,"acceleration_raw":0.0,"estimated_torque_nm":28.1875,"temperature_raw":[43,45],"voltage_raw":51.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0938844233751297,"velocity_rad_s":-1.0139613151550293,"acceleration_raw":0.0,"estimated_torque_nm":-8.1875,"temperature_raw":[40,40],"voltage_raw":50.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08028232306241989,"velocity_rad_s":0.8421555161476135,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.39145272970199585,"velocity_rad_s":11.564682006835938,"acceleration_raw":0.0,"estimated_torque_nm":23.0,"temperature_raw":[44,46],"voltage_raw":50.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15587881207466125,"velocity_rad_s":-1.8806605339050293,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,39],"voltage_raw":50.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3674483299255371,"velocity_rad_s":-14.002177238464355,"acceleration_raw":0.0,"estimated_torque_nm":4.356249809265137,"temperature_raw":[47,40],"voltage_raw":50.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07580022513866425,"velocity_rad_s":1.4296700954437256,"acceleration_raw":0.0,"estimated_torque_nm":0.05624999850988388,"temperature_raw":[39,36],"voltage_raw":50.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787639802048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809699,"imu":{"quaternion":[0.9930576682090759,0.0007188688614405692,0.02126062847673893,0.11568939685821533],"gyroscope":[0.013848436065018177,0.6327670216560364,0.0649811252951622],"accelerometer":[6.344933986663818,1.4805145263671875,15.351920127868652],"rpy":[0.006352678406983614,0.04207213968038559,0.23208443820476532],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345043420791626,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01498187892138958,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008356543257832527,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6275259852409363,"velocity_rad_s":-0.421060711145401,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[38,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3089199662208557,"velocity_rad_s":0.145201176404953,"acceleration_raw":0.0,"estimated_torque_nm":8.769660949707031,"temperature_raw":[39,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009795383550226688,"velocity_rad_s":-0.07697660475969315,"acceleration_raw":0.0,"estimated_torque_nm":-0.6891559362411499,"temperature_raw":[40,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3604002594947815,"velocity_rad_s":-0.3839724659919739,"acceleration_raw":0.0,"estimated_torque_nm":8.173828125,"temperature_raw":[36,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026783791836351156,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6009454727172852,"velocity_rad_s":-0.33597588539123535,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[37,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2849867045879364,"velocity_rad_s":0.05416525900363922,"acceleration_raw":0.0,"estimated_torque_nm":5.750363349914551,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029254904948174953,"velocity_rad_s":0.0569409504532814,"acceleration_raw":0.0,"estimated_torque_nm":1.382773756980896,"temperature_raw":[40,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008302975445985794,"velocity_rad_s":0.1988428831100464,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004013754427433014,"velocity_rad_s":-0.186534121632576,"acceleration_raw":0.0,"estimated_torque_nm":0.24784088134765625,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.011924353428184986,"velocity_rad_s":-0.7748124003410339,"acceleration_raw":0.0,"estimated_torque_nm":-0.7045899629592896,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28740569949150085,"velocity_rad_s":0.323669970035553,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21666280925273895,"velocity_rad_s":0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":-0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.980057954788208,"velocity_rad_s":0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01853959634900093,"velocity_rad_s":1.0676506757736206,"acceleration_raw":0.0,"estimated_torque_nm":-0.3062500059604645,"temperature_raw":[43,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006735134404152632,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03443067893385887,"velocity_rad_s":-0.3681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":28.875,"temperature_raw":[43,45],"voltage_raw":51.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09620936214923859,"velocity_rad_s":-1.2440584897994995,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08055796474218369,"velocity_rad_s":0.7117671370506287,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.40278980135917664,"velocity_rad_s":12.463594436645508,"acceleration_raw":0.0,"estimated_torque_nm":22.1875,"temperature_raw":[44,46],"voltage_raw":50.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15390141308307648,"velocity_rad_s":-2.035592555999756,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,39],"voltage_raw":50.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3783060312271118,"velocity_rad_s":-13.78128433227539,"acceleration_raw":0.0,"estimated_torque_nm":4.34375,"temperature_raw":[47,40],"voltage_raw":50.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07462576776742935,"velocity_rad_s":1.4664857387542725,"acceleration_raw":0.0,"estimated_torque_nm":0.04374999925494194,"temperature_raw":[39,36],"voltage_raw":50.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787640978688,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809699,"imu":{"quaternion":[0.993047297000885,0.0006732288748025894,0.02156367152929306,0.11572239547967911],"gyroscope":[-0.008522114716470242,0.7254449725151062,0.06178532913327217],"accelerometer":[8.031050682067871,-5.15621280670166,1.8279730081558228],"rpy":[0.006333706434816122,0.042684637010097504,0.23215393722057343],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345043420791626,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014990401454269886,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008276191540062428,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6272447109222412,"velocity_rad_s":-0.38724493980407715,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30869200825691223,"velocity_rad_s":0.1871422678232193,"acceleration_raw":0.0,"estimated_torque_nm":8.769660949707031,"temperature_raw":[39,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009804163128137589,"velocity_rad_s":-0.06092414632439613,"acceleration_raw":0.0,"estimated_torque_nm":-0.6891559362411499,"temperature_raw":[40,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3606815040111542,"velocity_rad_s":-0.3850632607936859,"acceleration_raw":0.0,"estimated_torque_nm":8.26171875,"temperature_raw":[36,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014010357670485973,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027855143416672945,"velocity_rad_s":-0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6003745198249817,"velocity_rad_s":-0.3948807418346405,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[37,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2848659157752991,"velocity_rad_s":0.08145727217197418,"acceleration_raw":0.0,"estimated_torque_nm":5.750363349914551,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029751260299235582,"velocity_rad_s":0.05209220200777054,"acceleration_raw":0.0,"estimated_torque_nm":1.382773756980896,"temperature_raw":[40,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008169055916368961,"velocity_rad_s":0.20055703818798065,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004009191412478685,"velocity_rad_s":-0.10829219222068787,"acceleration_raw":0.0,"estimated_torque_nm":0.09939362108707428,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.01136767864227295,"velocity_rad_s":-0.7714889645576477,"acceleration_raw":0.0,"estimated_torque_nm":-0.46878400444984436,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28760942816734314,"velocity_rad_s":0.31753402948379517,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21672272682189941,"velocity_rad_s":0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0055486964993178844,"velocity_rad_s":-0.19481556117534637,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9811245799064636,"velocity_rad_s":0.5307573676109314,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019474366679787636,"velocity_rad_s":1.1412817239761353,"acceleration_raw":0.0,"estimated_torque_nm":-0.3375000059604645,"temperature_raw":[43,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006902913562953472,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03477822244167328,"velocity_rad_s":-0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":29.0,"temperature_raw":[43,45],"voltage_raw":51.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09649698436260223,"velocity_rad_s":-1.036971092224121,"acceleration_raw":0.0,"estimated_torque_nm":-8.5,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08039018511772156,"velocity_rad_s":0.34821364283561707,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.42425355315208435,"velocity_rad_s":13.057245254516602,"acceleration_raw":0.0,"estimated_torque_nm":20.5,"temperature_raw":[44,46],"voltage_raw":50.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.15210378170013428,"velocity_rad_s":-2.141437292098999,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,39],"voltage_raw":50.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.38898399472236633,"velocity_rad_s":-14.063536643981934,"acceleration_raw":0.0,"estimated_torque_nm":4.525000095367432,"temperature_raw":[47,40],"voltage_raw":50.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07361909747123718,"velocity_rad_s":1.3867186307907104,"acceleration_raw":0.0,"estimated_torque_nm":0.05624999850988388,"temperature_raw":[39,36],"voltage_raw":50.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787643101120,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809700,"imu":{"quaternion":[0.993047297000885,0.0006732288748025894,0.02156367152929306,0.11572239547967911],"gyroscope":[-0.008522114716470242,0.7254449725151062,0.06178532913327217],"accelerometer":[8.031050682067871,-5.15621280670166,1.8279730081558228],"rpy":[0.006333706434816122,0.042684637010097504,0.23215393722057343],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3450348973274231,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014998923055827618,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008249407634139061,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6267589926719666,"velocity_rad_s":-0.37742745876312256,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30825212597846985,"velocity_rad_s":0.25832581520080566,"acceleration_raw":0.0,"estimated_torque_nm":8.769660949707031,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01008253451436758,"velocity_rad_s":-0.012201878242194653,"acceleration_raw":0.0,"estimated_torque_nm":-0.6891559362411499,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.36092010140419006,"velocity_rad_s":-0.35561084747314453,"acceleration_raw":0.0,"estimated_torque_nm":8.26171875,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01401888020336628,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002865865593776107,"velocity_rad_s":-0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000080704689026,"velocity_rad_s":-0.4254240393638611,"acceleration_raw":0.0,"estimated_torque_nm":-3.1640625,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2846769094467163,"velocity_rad_s":0.12082383781671524,"acceleration_raw":0.0,"estimated_torque_nm":5.929720878601074,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002807310316711664,"velocity_rad_s":-0.002830775920301676,"acceleration_raw":0.0,"estimated_torque_nm":1.3839008808135986,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008021745830774307,"velocity_rad_s":0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004153539426624775,"velocity_rad_s":-0.05219724029302597,"acceleration_raw":0.0,"estimated_torque_nm":-0.0998706966638565,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.010701176710426807,"velocity_rad_s":-0.8047777414321899,"acceleration_raw":0.0,"estimated_torque_nm":-0.15649336576461792,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28775322437286377,"velocity_rad_s":0.2899223864078522,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21681860089302063,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005620601586997509,"velocity_rad_s":-0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9814600944519043,"velocity_rad_s":0.5016117095947266,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020385166630148888,"velocity_rad_s":1.1842331886291504,"acceleration_raw":0.0,"estimated_torque_nm":-0.3499999940395355,"temperature_raw":[43,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00701077189296484,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03525758907198906,"velocity_rad_s":-0.4617282450199127,"acceleration_raw":0.0,"estimated_torque_nm":28.9375,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09667674452066422,"velocity_rad_s":-0.8329516053199768,"acceleration_raw":0.0,"estimated_torque_nm":-8.375,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08025835454463959,"velocity_rad_s":0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4346798360347748,"velocity_rad_s":13.014293670654297,"acceleration_raw":0.0,"estimated_torque_nm":19.4375,"temperature_raw":[44,46],"voltage_raw":51.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14822089672088623,"velocity_rad_s":-2.31170916557312,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,39],"voltage_raw":50.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.4004528820514679,"velocity_rad_s":-14.82439136505127,"acceleration_raw":0.0,"estimated_torque_nm":4.775000095367432,"temperature_raw":[47,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07272028177976608,"velocity_rad_s":1.2701361179351807,"acceleration_raw":0.0,"estimated_torque_nm":0.06875000149011612,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787645316448,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809701,"imu":{"quaternion":[0.9930213689804077,0.0005294573493301868,0.022268185392022133,0.11581245809793472],"gyroscope":[-0.05752427130937576,0.8490156531333923,0.09587378799915314],"accelerometer":[6.229114055633545,-2.5848400592803955,11.90157699584961],"rpy":[0.006215477827936411,0.044117238372564316,0.23234084248542786],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34505194425582886,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015015967190265656,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":-0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6264777779579163,"velocity_rad_s":-0.3643375039100647,"acceleration_raw":0.0,"estimated_torque_nm":-3.955078125,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3078753352165222,"velocity_rad_s":0.2928027808666229,"acceleration_raw":0.0,"estimated_torque_nm":8.860367774963379,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009903814643621445,"velocity_rad_s":-0.014756434597074986,"acceleration_raw":0.0,"estimated_torque_nm":-0.7409999966621399,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3611331582069397,"velocity_rad_s":-0.3032509684562683,"acceleration_raw":0.0,"estimated_torque_nm":7.998046875,"temperature_raw":[36,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0029328251257538795,"velocity_rad_s":-0.12856221199035645,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5996671915054321,"velocity_rad_s":-0.45487645268440247,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28457650542259216,"velocity_rad_s":0.10929139703512192,"acceleration_raw":0.0,"estimated_torque_nm":6.043526649475098,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027487289626151323,"velocity_rad_s":-0.053392503410577774,"acceleration_raw":0.0,"estimated_torque_nm":1.3185784816741943,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007753907702863216,"velocity_rad_s":0.21084201335906982,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0041560884565114975,"velocity_rad_s":-0.028922216966748238,"acceleration_raw":0.0,"estimated_torque_nm":-0.14915545284748077,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.009924179874360561,"velocity_rad_s":-0.8612907528877258,"acceleration_raw":0.0,"estimated_torque_nm":0.2337591052055359,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2877652049064636,"velocity_rad_s":0.21629129350185394,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2169504314661026,"velocity_rad_s":0.15800002217292786,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005584648810327053,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9816638231277466,"velocity_rad_s":0.4448544383049011,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022110896185040474,"velocity_rad_s":1.1167380809783936,"acceleration_raw":0.0,"estimated_torque_nm":-0.3375000059604645,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.0358208492398262,"velocity_rad_s":-0.5368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":28.875,"temperature_raw":[43,45],"voltage_raw":51.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.0972040519118309,"velocity_rad_s":-0.7992040514945984,"acceleration_raw":0.0,"estimated_torque_nm":-8.1875,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08019843697547913,"velocity_rad_s":0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.44534578919410706,"velocity_rad_s":13.318021774291992,"acceleration_raw":0.0,"estimated_torque_nm":18.4375,"temperature_raw":[44,46],"voltage_raw":51.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14619556069374084,"velocity_rad_s":-2.3746023178100586,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[42,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.42642271518707275,"velocity_rad_s":-16.02703285217285,"acceleration_raw":0.0,"estimated_torque_nm":4.981249809265137,"temperature_raw":[47,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0709945484995842,"velocity_rad_s":1.0921943187713623,"acceleration_raw":0.0,"estimated_torque_nm":0.08124999701976776,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787648313408,"stream":"controller.event","data":{"event":"minor_arm_movement_finished","outcome":"aborted","reason":"right elbow velocity limit exceeded (13.318rad/s)"}} +{"timestamp_monotonic_ns":787649551648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809702,"imu":{"quaternion":[0.9930054545402527,0.0004552014288492501,0.02262222208082676,0.11588017642498016],"gyroscope":[-0.05326321721076965,0.8362324833869934,0.1299622505903244],"accelerometer":[6.229114055633545,-2.5848400592803955,11.90157699584961],"rpy":[0.006153191439807415,0.044837504625320435,0.23247992992401123],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34515419602394104,"velocity_rad_s":-0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015015967190265656,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008155664429068565,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.626213550567627,"velocity_rad_s":-0.37088248133659363,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3076721727848053,"velocity_rad_s":0.2901855409145355,"acceleration_raw":0.0,"estimated_torque_nm":8.950387001037598,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00995591003447771,"velocity_rad_s":0.0028557446785271168,"acceleration_raw":0.0,"estimated_torque_nm":-0.6895174980163574,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3613632619380951,"velocity_rad_s":-0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":7.55859375,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0030131766106933355,"velocity_rad_s":-0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5992922186851501,"velocity_rad_s":-0.4734205901622772,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2845386862754822,"velocity_rad_s":0.0939507707953453,"acceleration_raw":0.0,"estimated_torque_nm":6.043526649475098,"temperature_raw":[39,38],"voltage_raw":51.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0026401227805763483,"velocity_rad_s":-0.07825813442468643,"acceleration_raw":0.0,"estimated_torque_nm":1.3185784816741943,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007619988638907671,"velocity_rad_s":0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004762050695717335,"velocity_rad_s":0.009224744513630867,"acceleration_raw":0.0,"estimated_torque_nm":-0.43939346075057983,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.008628226816654205,"velocity_rad_s":-0.9775595664978027,"acceleration_raw":0.0,"estimated_torque_nm":1.158332347869873,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2870461642742157,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2172020971775055,"velocity_rad_s":0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005704491399228573,"velocity_rad_s":-0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9818915128707886,"velocity_rad_s":0.424912691116333,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14584802091121674,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022937806323170662,"velocity_rad_s":1.0492428541183472,"acceleration_raw":0.0,"estimated_torque_nm":-0.3375000059604645,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03637212514877319,"velocity_rad_s":-0.4448544383049011,"acceleration_raw":0.0,"estimated_torque_nm":28.625,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.09967280179262161,"velocity_rad_s":-1.2225826978683472,"acceleration_raw":0.0,"estimated_torque_nm":-7.75,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08019843697547913,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.45585596561431885,"velocity_rad_s":13.489827156066895,"acceleration_raw":0.0,"estimated_torque_nm":17.5,"temperature_raw":[44,46],"voltage_raw":51.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14431403577327728,"velocity_rad_s":-2.4144859313964844,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[42,39],"voltage_raw":50.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.4381912052631378,"velocity_rad_s":-15.83681869506836,"acceleration_raw":0.0,"estimated_torque_nm":5.025000095367432,"temperature_raw":[47,40],"voltage_raw":50.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.07020359486341476,"velocity_rad_s":1.0615147352218628,"acceleration_raw":0.0,"estimated_torque_nm":0.09375,"temperature_raw":[39,36],"voltage_raw":50.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787650904288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809703,"imu":{"quaternion":[0.9930054545402527,0.0004552014288492501,0.02262222208082676,0.11588017642498016],"gyroscope":[-0.05326321721076965,0.8362324833869934,0.1299622505903244],"accelerometer":[6.229114055633545,-2.5848400592803955,11.90157699584961],"rpy":[0.006153191439807415,0.044837504625320435,0.23247992992401123],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34523943066596985,"velocity_rad_s":-0.07853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01498187892138958,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007954785600304604,"velocity_rad_s":-0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6259323358535767,"velocity_rad_s":-0.36106500029563904,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30748558044433594,"velocity_rad_s":0.2833317220211029,"acceleration_raw":0.0,"estimated_torque_nm":8.950387001037598,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009993383660912514,"velocity_rad_s":0.024151276797056198,"acceleration_raw":0.0,"estimated_torque_nm":-0.6895174980163574,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.361371785402298,"velocity_rad_s":-0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":7.20703125,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031470954418182373,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5989598631858826,"velocity_rad_s":-0.4734205901622772,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2845137119293213,"velocity_rad_s":0.07899502664804459,"acceleration_raw":0.0,"estimated_torque_nm":5.953118324279785,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002625522669404745,"velocity_rad_s":-0.0633704662322998,"acceleration_raw":0.0,"estimated_torque_nm":1.2663960456848145,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007445894181728363,"velocity_rad_s":0.21427033841609955,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00317149655893445,"velocity_rad_s":-0.30080097913742065,"acceleration_raw":0.0,"estimated_torque_nm":0.2527410686016083,"temperature_raw":[41,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.006843284238129854,"velocity_rad_s":-1.1780134439468384,"acceleration_raw":0.0,"estimated_torque_nm":2.8845667839050293,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28641098737716675,"velocity_rad_s":-0.30833014845848083,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":51.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21734590828418732,"velocity_rad_s":0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006076002027839422,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9823229908943176,"velocity_rad_s":0.4617282450199127,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14589595794677734,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023800671100616455,"velocity_rad_s":1.0983302593231201,"acceleration_raw":0.0,"estimated_torque_nm":-0.36250001192092896,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0076459357514977455,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03628823533654213,"velocity_rad_s":-0.2960582971572876,"acceleration_raw":0.0,"estimated_torque_nm":28.625,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10111090540885925,"velocity_rad_s":-1.3683109283447266,"acceleration_raw":0.0,"estimated_torque_nm":-7.6875,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08019843697547913,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4673967659473419,"velocity_rad_s":13.689245223999023,"acceleration_raw":0.0,"estimated_torque_nm":16.625,"temperature_raw":[44,46],"voltage_raw":51.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.14215688407421112,"velocity_rad_s":-2.4804470539093018,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[42,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.4503791630268097,"velocity_rad_s":-15.493206977844238,"acceleration_raw":0.0,"estimated_torque_nm":5.025000095367432,"temperature_raw":[47,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06935270875692368,"velocity_rad_s":1.0799225568771362,"acceleration_raw":0.0,"estimated_torque_nm":0.09375,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787653959840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809704,"imu":{"quaternion":[0.9929887652397156,0.00038455973844975233,0.022956201806664467,0.11595840007066727],"gyroscope":[-0.05432847887277603,0.7904261350631714,0.15126752853393555],"accelerometer":[5.346551895141602,0.5871779918670654,18.025646209716797],"rpy":[0.006094003561884165,0.045517031103372574,0.23263999819755554],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3453161120414734,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014964834786951542,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007874434813857079,"velocity_rad_s":-0.1302763670682907,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6253954172134399,"velocity_rad_s":-0.3905174434185028,"acceleration_raw":0.0,"estimated_torque_nm":-3.603515625,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30730298161506653,"velocity_rad_s":0.23977501690387726,"acceleration_raw":0.0,"estimated_torque_nm":8.950387001037598,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01012509223073721,"velocity_rad_s":-0.003974267281591892,"acceleration_raw":0.0,"estimated_torque_nm":-0.6895174980163574,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.36132916808128357,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":7.119140625,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014044445939362049,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":-0.1217055544257164,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5981417298316956,"velocity_rad_s":-0.49523720145225525,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28448858857154846,"velocity_rad_s":0.05923941731452942,"acceleration_raw":0.0,"estimated_torque_nm":5.863368034362793,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0025820203591138124,"velocity_rad_s":-0.045678701251745224,"acceleration_raw":0.0,"estimated_torque_nm":1.317911148071289,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007231623865664005,"velocity_rad_s":0.27255186438560486,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026012188754975796,"velocity_rad_s":-0.42350444197654724,"acceleration_raw":0.0,"estimated_torque_nm":0.7976212501525879,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.005612705368548632,"velocity_rad_s":-1.2894848585128784,"acceleration_raw":0.0,"estimated_torque_nm":4.050216197967529,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28590765595436096,"velocity_rad_s":-0.40343695878982544,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2175256758928299,"velocity_rad_s":0.19481556117534637,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006111954804509878,"velocity_rad_s":-0.16260196268558502,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9830180406570435,"velocity_rad_s":0.4724661111831665,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14587199687957764,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02490321919322014,"velocity_rad_s":1.294679880142212,"acceleration_raw":0.0,"estimated_torque_nm":-0.4000000059604645,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007849667221307755,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.036264266818761826,"velocity_rad_s":-0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":28.75,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10209361463785172,"velocity_rad_s":-1.3575730323791504,"acceleration_raw":0.0,"estimated_torque_nm":-7.8125,"temperature_raw":[40,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08016248047351837,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[42,41],"voltage_raw":51.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4899870455265045,"velocity_rad_s":14.051264762878418,"acceleration_raw":0.0,"estimated_torque_nm":15.4375,"temperature_raw":[44,46],"voltage_raw":51.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1380462944507599,"velocity_rad_s":-2.624641180038452,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[42,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.4617402255535126,"velocity_rad_s":-15.278449058532715,"acceleration_raw":0.0,"estimated_torque_nm":5.012499809265137,"temperature_raw":[47,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06853778660297394,"velocity_rad_s":1.0983302593231201,"acceleration_raw":0.0,"estimated_torque_nm":0.09375,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787658526208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809705,"imu":{"quaternion":[0.9929579496383667,0.00026893545873463154,0.023526038974523544,0.11610761284828186],"gyroscope":[-0.04793689399957657,0.6604638695716858,0.13741908967494965],"accelerometer":[7.131429195404053,4.159626007080078,12.497733116149902],"rpy":[0.006003762129694223,0.04667523130774498,0.2329450398683548],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3453928232192993,"velocity_rad_s":-0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014947790652513504,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007780691608786583,"velocity_rad_s":-0.15084631741046906,"acceleration_raw":0.0,"estimated_torque_nm":2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6250630617141724,"velocity_rad_s":-0.41451573371887207,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3071911334991455,"velocity_rad_s":0.1957898885011673,"acceleration_raw":0.0,"estimated_torque_nm":8.950387001037598,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010089601390063763,"velocity_rad_s":0.018930312246084213,"acceleration_raw":0.0,"estimated_torque_nm":-0.6895174980163574,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.36124396324157715,"velocity_rad_s":0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":7.03125,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014061490073800087,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0032810145057737827,"velocity_rad_s":-0.11142057180404663,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":51.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597732663154602,"velocity_rad_s":-0.5268713235855103,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28445950150489807,"velocity_rad_s":0.05176154524087906,"acceleration_raw":0.0,"estimated_torque_nm":5.953775882720947,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002589056733995676,"velocity_rad_s":-0.03823486343026161,"acceleration_raw":0.0,"estimated_torque_nm":1.370093584060669,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.006602204404771328,"velocity_rad_s":0.42168402671813965,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0019170887535437942,"velocity_rad_s":-0.5178253054618835,"acceleration_raw":0.0,"estimated_torque_nm":0.9923879504203796,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0043481760658323765,"velocity_rad_s":-1.378132700920105,"acceleration_raw":0.0,"estimated_torque_nm":5.288830280303955,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28556013107299805,"velocity_rad_s":-0.424912691116333,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21772940456867218,"velocity_rad_s":0.22856314480304718,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00612393906340003,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.983197808265686,"velocity_rad_s":0.4157088100910187,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.027276096865534782,"velocity_rad_s":1.497165322303772,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008364989422261715,"velocity_rad_s":-0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":0.07500000298023224,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.036264266818761826,"velocity_rad_s":-0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":28.8125,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10281267017126083,"velocity_rad_s":-1.260932207107544,"acceleration_raw":0.0,"estimated_torque_nm":-7.8125,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.08004263788461685,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-1.375,"temperature_raw":[42,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.4998740255832672,"velocity_rad_s":13.84417724609375,"acceleration_raw":0.0,"estimated_torque_nm":14.6875,"temperature_raw":[44,46],"voltage_raw":51.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13563746213912964,"velocity_rad_s":-2.7304859161376953,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[42,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.48558881878852844,"velocity_rad_s":-15.450255393981934,"acceleration_raw":0.0,"estimated_torque_nm":5.193749904632568,"temperature_raw":[47,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06695586442947388,"velocity_rad_s":1.036971092224121,"acceleration_raw":0.0,"estimated_torque_nm":0.09375,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787659629568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809706,"imu":{"quaternion":[0.992944598197937,0.0002267069648951292,0.02376457490026951,0.11617372184991837],"gyroscope":[-0.038349516689777374,0.5986785292625427,0.12783171236515045],"accelerometer":[6.521805286407471,3.5679590702056885,10.936413764953613],"rpy":[0.005978534929454327,0.0471586175262928,0.23308038711547852],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3454865515232086,"velocity_rad_s":-0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014896657317876816,"velocity_rad_s":0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007713731843978167,"velocity_rad_s":-0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":2.684659004211426,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6247733235359192,"velocity_rad_s":-0.41342487931251526,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3071455955505371,"velocity_rad_s":0.16817417740821838,"acceleration_raw":0.0,"estimated_torque_nm":8.950387001037598,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010068145580589771,"velocity_rad_s":0.0039008932653814554,"acceleration_raw":0.0,"estimated_torque_nm":-0.6895174980163574,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.36097976565361023,"velocity_rad_s":0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":6.85546875,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014070012606680393,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0034149333368986845,"velocity_rad_s":-0.1714162677526474,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5973065495491028,"velocity_rad_s":-0.5846853256225586,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28444695472717285,"velocity_rad_s":0.04486037790775299,"acceleration_raw":0.0,"estimated_torque_nm":5.773617744445801,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0025673145428299904,"velocity_rad_s":-0.04281386733055115,"acceleration_raw":0.0,"estimated_torque_nm":1.3694261312484741,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00613348837941885,"velocity_rad_s":0.5708162188529968,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002168655162677169,"velocity_rad_s":-0.5256539583206177,"acceleration_raw":0.0,"estimated_torque_nm":1.2930638790130615,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.002646987559273839,"velocity_rad_s":-1.4676823616027832,"acceleration_raw":0.0,"estimated_torque_nm":6.06385612487793,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2849249541759491,"velocity_rad_s":-0.4279806613922119,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21805298328399658,"velocity_rad_s":0.27458256483078003,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00618386035785079,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9833176732063293,"velocity_rad_s":0.34514570236206055,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02828277088701725,"velocity_rad_s":1.4112623929977417,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00866459496319294,"velocity_rad_s":-0.374291330575943,"acceleration_raw":0.0,"estimated_torque_nm":0.08749999850988388,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03612045571208,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":28.75,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10361561179161072,"velocity_rad_s":-1.1949710845947266,"acceleration_raw":0.0,"estimated_torque_nm":-7.625,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07982692122459412,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[42,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.5096771121025085,"velocity_rad_s":13.681574821472168,"acceleration_raw":0.0,"estimated_torque_nm":14.0,"temperature_raw":[44,46],"voltage_raw":51.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13349229097366333,"velocity_rad_s":-2.781107187271118,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.4981243312358856,"velocity_rad_s":-15.591381072998047,"acceleration_raw":0.0,"estimated_torque_nm":5.231249809265137,"temperature_raw":[47,40],"voltage_raw":51.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0661768913269043,"velocity_rad_s":0.9940195679664612,"acceleration_raw":0.0,"estimated_torque_nm":0.09375,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787662273408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809707,"imu":{"quaternion":[0.992944598197937,0.0002267069648951292,0.02376457490026951,0.11617372184991837],"gyroscope":[-0.038349516689777374,0.5986785292625427,0.12783171236515045],"accelerometer":[6.521805286407471,3.5679590702056885,10.936413764953613],"rpy":[0.005978534929454327,0.0471586175262928,0.23308038711547852],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345529168844223,"velocity_rad_s":-0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014896657317876816,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007472677621990442,"velocity_rad_s":-0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":2.7965199947357178,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6244324445724487,"velocity_rad_s":-0.44287732243537903,"acceleration_raw":0.0,"estimated_torque_nm":-3.251953125,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3071123957633972,"velocity_rad_s":0.13581179082393646,"acceleration_raw":0.0,"estimated_torque_nm":8.950387001037598,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010082859545946121,"velocity_rad_s":0.0027580256573855877,"acceleration_raw":0.0,"estimated_torque_nm":-0.6895174980163574,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3607752323150635,"velocity_rad_s":0.24216444790363312,"acceleration_raw":0.0,"estimated_torque_nm":6.591796875,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014052968472242355,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0037095551379024982,"velocity_rad_s":-0.20398537814617157,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.596846342086792,"velocity_rad_s":-0.5814128518104553,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28443434834480286,"velocity_rad_s":0.040067363530397415,"acceleration_raw":0.0,"estimated_torque_nm":5.863368034362793,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002531130565330386,"velocity_rad_s":-0.041858918964862823,"acceleration_raw":0.0,"estimated_torque_nm":1.317911148071289,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.005517460871487856,"velocity_rad_s":0.6890934109687805,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0006882491870783269,"velocity_rad_s":-0.5043731927871704,"acceleration_raw":0.0,"estimated_torque_nm":1.584548830986023,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":0.0006318905507214367,"velocity_rad_s":-1.5305836200714111,"acceleration_raw":0.0,"estimated_torque_nm":7.1429443359375,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28431376814842224,"velocity_rad_s":-0.5353593230247498,"acceleration_raw":0.0,"estimated_torque_nm":2.1875,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21871210634708405,"velocity_rad_s":0.35588356852531433,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006531402934342623,"velocity_rad_s":-0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9834974408149719,"velocity_rad_s":0.3160000443458557,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02925349399447441,"velocity_rad_s":1.3008157014846802,"acceleration_raw":0.0,"estimated_torque_nm":-0.4000000059604645,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.009048090316355228,"velocity_rad_s":-0.45405831933021545,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03597664460539818,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":28.75,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10565292835235596,"velocity_rad_s":-1.3008157014846802,"acceleration_raw":0.0,"estimated_torque_nm":-7.3125,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0791558101773262,"velocity_rad_s":-0.2592427730560303,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[42,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.5207145810127258,"velocity_rad_s":13.684642791748047,"acceleration_raw":0.0,"estimated_torque_nm":13.375,"temperature_raw":[44,46],"voltage_raw":51.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.13093964755535126,"velocity_rad_s":-2.896155834197998,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5097489953041077,"velocity_rad_s":-15.548429489135742,"acceleration_raw":0.0,"estimated_torque_nm":5.275000095367432,"temperature_raw":[47,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06542188674211502,"velocity_rad_s":1.0124273300170898,"acceleration_raw":0.0,"estimated_torque_nm":0.09375,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787666400768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809708,"imu":{"quaternion":[0.9929320216178894,0.00019116094335913658,0.02397908642888069,0.11623707413673401],"gyroscope":[-0.035153720527887344,0.5496763586997986,0.12250539660453796],"accelerometer":[6.521805286407471,3.5679590702056885,10.936413764953613],"rpy":[0.005960921756923199,0.047592729330062866,0.23321007192134857],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3455462157726288,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014905179850757122,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007325367070734501,"velocity_rad_s":-0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":2.852450370788574,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6237933039665222,"velocity_rad_s":-0.46905723214149475,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3071247935295105,"velocity_rad_s":0.08219599723815918,"acceleration_raw":0.0,"estimated_torque_nm":8.950387001037598,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010104536078870296,"velocity_rad_s":-0.01522775087505579,"acceleration_raw":0.0,"estimated_torque_nm":-0.6895174980163574,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.36051955819129944,"velocity_rad_s":0.3185226023197174,"acceleration_raw":0.0,"estimated_torque_nm":6.50390625,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014061490073800087,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0038568659219890833,"velocity_rad_s":-0.215984508395195,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5959515571594238,"velocity_rad_s":-0.5694137215614319,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2844218611717224,"velocity_rad_s":0.024589722976088524,"acceleration_raw":0.0,"estimated_torque_nm":5.863368034362793,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0025238124653697014,"velocity_rad_s":-0.029741594567894936,"acceleration_raw":0.0,"estimated_torque_nm":1.317911148071289,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004713947419077158,"velocity_rad_s":0.8930788040161133,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00066692556720227,"velocity_rad_s":-0.40743088722229004,"acceleration_raw":0.0,"estimated_torque_nm":1.4824721813201904,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0005800189101137221,"velocity_rad_s":-1.5479545593261719,"acceleration_raw":0.0,"estimated_torque_nm":7.593205451965332,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28346288204193115,"velocity_rad_s":-0.6856894493103027,"acceleration_raw":0.0,"estimated_torque_nm":2.375,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21897576749324799,"velocity_rad_s":0.34821364283561707,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006687197834253311,"velocity_rad_s":-0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9839168787002563,"velocity_rad_s":0.2960582971572876,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.030188262462615967,"velocity_rad_s":1.2578643560409546,"acceleration_raw":0.0,"estimated_torque_nm":-0.4124999940395355,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.009419601410627365,"velocity_rad_s":-0.49087387323379517,"acceleration_raw":0.0,"estimated_torque_nm":0.11874999850988388,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03573695942759514,"velocity_rad_s":0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":28.75,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10693524032831192,"velocity_rad_s":-1.3959225416183472,"acceleration_raw":0.0,"estimated_torque_nm":-7.25,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07865247130393982,"velocity_rad_s":-0.37275734543800354,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[42,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.5426337122917175,"velocity_rad_s":13.890196800231934,"acceleration_raw":0.0,"estimated_torque_nm":12.0625,"temperature_raw":[44,46],"voltage_raw":51.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12630175054073334,"velocity_rad_s":-2.9851267337799072,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5218291282653809,"velocity_rad_s":-15.302992820739746,"acceleration_raw":0.0,"estimated_torque_nm":5.287499904632568,"temperature_raw":[47,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0647028312087059,"velocity_rad_s":0.951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":0.08124999701976776,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787667574752,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809709,"imu":{"quaternion":[0.9929065108299255,0.00010319649300072342,0.024312980473041534,0.11638623476028442],"gyroscope":[-0.08096008747816086,0.4218446612358093,0.157659113407135],"accelerometer":[6.572083473205566,1.217451572418213,9.065345764160156],"rpy":[0.005871193949133158,0.04827576130628586,0.2335122972726822],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345529168844223,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014930746518075466,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007164664100855589,"velocity_rad_s":-0.19198623299598694,"acceleration_raw":0.0,"estimated_torque_nm":2.852450370788574,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6234864592552185,"velocity_rad_s":-0.45487645268440247,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3071330487728119,"velocity_rad_s":0.05464710295200348,"acceleration_raw":0.0,"estimated_torque_nm":8.859681129455566,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01011897437274456,"velocity_rad_s":0.0031466674990952015,"acceleration_raw":0.0,"estimated_torque_nm":-0.6376734375953674,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3602553904056549,"velocity_rad_s":0.37633663415908813,"acceleration_raw":0.0,"estimated_torque_nm":6.416015625,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014044445939362049,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004057744517922401,"velocity_rad_s":-0.26398104429244995,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5954828262329102,"velocity_rad_s":-0.6141377687454224,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28443023562431335,"velocity_rad_s":0.017626900225877762,"acceleration_raw":0.0,"estimated_torque_nm":5.863368034362793,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0025383252650499344,"velocity_rad_s":-0.017678264528512955,"acceleration_raw":0.0,"estimated_torque_nm":1.317911148071289,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.002691771136596799,"velocity_rad_s":1.2547671794891357,"acceleration_raw":0.0,"estimated_torque_nm":-5.648970127105713,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0006214533350430429,"velocity_rad_s":-0.3201242685317993,"acceleration_raw":0.0,"estimated_torque_nm":1.1859776973724365,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0016530173597857356,"velocity_rad_s":-1.5192686319351196,"acceleration_raw":0.0,"estimated_torque_nm":7.749322891235352,"temperature_raw":[42,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28271985054016113,"velocity_rad_s":-0.771592378616333,"acceleration_raw":0.0,"estimated_torque_nm":2.5,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21901170909404755,"velocity_rad_s":0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006807039957493544,"velocity_rad_s":-0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9840367436408997,"velocity_rad_s":0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03245328366756439,"velocity_rad_s":1.4603497982025146,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.01019857544451952,"velocity_rad_s":-0.503145694732666,"acceleration_raw":0.0,"estimated_torque_nm":0.11874999850988388,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03542536869645119,"velocity_rad_s":0.20555342733860016,"acceleration_raw":0.0,"estimated_torque_nm":28.6875,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.10804977267980576,"velocity_rad_s":-1.4112623929977417,"acceleration_raw":0.0,"estimated_torque_nm":-7.1875,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07805325835943222,"velocity_rad_s":-0.4801360070705414,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[42,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.5525806546211243,"velocity_rad_s":13.75827407836914,"acceleration_raw":0.0,"estimated_torque_nm":11.5625,"temperature_raw":[44,46],"voltage_raw":51.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.12402474880218506,"velocity_rad_s":-3.0158064365386963,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5435565114021301,"velocity_rad_s":-14.560545921325684,"acceleration_raw":0.0,"estimated_torque_nm":5.21875,"temperature_raw":[47,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06322877109050751,"velocity_rad_s":0.9633399844169617,"acceleration_raw":0.0,"estimated_torque_nm":0.09375,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787670327648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809710,"imu":{"quaternion":[0.9929065108299255,0.00010319649300072342,0.024312980473041534,0.11638623476028442],"gyroscope":[-0.08096008747816086,0.4218446612358093,0.157659113407135],"accelerometer":[6.572083473205566,1.217451572418213,9.065345764160156],"rpy":[0.005871193949133158,0.04827576130628586,0.2335122972726822],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3454013466835022,"velocity_rad_s":0.08617563545703888,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014956312254071236,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006990569643676281,"velocity_rad_s":-0.21084201335906982,"acceleration_raw":0.0,"estimated_torque_nm":2.9083807468414307,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6231626272201538,"velocity_rad_s":-0.43305981159210205,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3071330487728119,"velocity_rad_s":0.04137902706861496,"acceleration_raw":0.0,"estimated_torque_nm":8.860367774963379,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01011897437274456,"velocity_rad_s":0.00027490471256896853,"acceleration_raw":0.0,"estimated_torque_nm":-0.7409999966621399,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35959917306900024,"velocity_rad_s":0.4406956434249878,"acceleration_raw":0.0,"estimated_torque_nm":6.064453125,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004258622881025076,"velocity_rad_s":-0.27769434452056885,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5950652360916138,"velocity_rad_s":-0.5868669748306274,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2844468653202057,"velocity_rad_s":0.01014217920601368,"acceleration_raw":0.0,"estimated_torque_nm":5.863368034362793,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002538430504500866,"velocity_rad_s":-0.008385282009840012,"acceleration_raw":0.0,"estimated_torque_nm":1.317911148071289,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0014329327968880534,"velocity_rad_s":1.4313257932662964,"acceleration_raw":0.0,"estimated_torque_nm":-6.655717372894287,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0012369613396003842,"velocity_rad_s":-0.30457577109336853,"acceleration_raw":0.0,"estimated_torque_nm":1.140636920928955,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.003050771076232195,"velocity_rad_s":-1.4251387119293213,"acceleration_raw":0.0,"estimated_torque_nm":7.511561393737793,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28152143955230713,"velocity_rad_s":-0.7853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21889187395572662,"velocity_rad_s":0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00689092930406332,"velocity_rad_s":-0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9840367436408997,"velocity_rad_s":0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03366369009017944,"velocity_rad_s":1.5033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0105341337621212,"velocity_rad_s":-0.46019425988197327,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.03461044281721115,"velocity_rad_s":0.35895150899887085,"acceleration_raw":0.0,"estimated_torque_nm":28.75,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1092601791024208,"velocity_rad_s":-1.4465439319610596,"acceleration_raw":0.0,"estimated_torque_nm":-7.0625,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07744206488132477,"velocity_rad_s":-0.5721748471260071,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.5627552270889282,"velocity_rad_s":13.732196807861328,"acceleration_raw":0.0,"estimated_torque_nm":11.125,"temperature_raw":[44,46],"voltage_raw":51.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.1215919479727745,"velocity_rad_s":-3.0158064365386963,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[42,39],"voltage_raw":51.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5548576712608337,"velocity_rad_s":-14.302837371826172,"acceleration_raw":0.0,"estimated_torque_nm":5.231249809265137,"temperature_raw":[47,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.06254567205905914,"velocity_rad_s":0.9019807577133179,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[39,36],"voltage_raw":51.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787673131968,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809711,"imu":{"quaternion":[0.9928920269012451,4.694529343396425e-05,0.024425003677606583,0.11648530513048172],"gyroscope":[-0.10546116530895233,0.3494066894054413,0.19281284511089325],"accelerometer":[4.922778129577637,0.7577648162841797,11.866561889648438],"rpy":[0.005790375173091888,0.048510871827602386,0.23371118307113647],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3453075885772705,"velocity_rad_s":0.12108222395181656,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015007445588707924,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006521853152662516,"velocity_rad_s":-0.2845510244369507,"acceleration_raw":0.0,"estimated_torque_nm":3.0202414989471436,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6228814125061035,"velocity_rad_s":-0.42324236035346985,"acceleration_raw":0.0,"estimated_torque_nm":-3.1640625,"temperature_raw":[38,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30712059140205383,"velocity_rad_s":0.03767480328679085,"acceleration_raw":0.0,"estimated_torque_nm":8.860367774963379,"temperature_raw":[39,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010126303881406784,"velocity_rad_s":0.0048896558582782745,"acceleration_raw":0.0,"estimated_torque_nm":-0.7409999966621399,"temperature_raw":[40,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35919010639190674,"velocity_rad_s":0.5181446075439453,"acceleration_raw":0.0,"estimated_torque_nm":5.80078125,"temperature_raw":[36,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014044445939362049,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":51.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004767514765262604,"velocity_rad_s":-0.3291192352771759,"acceleration_raw":0.0,"estimated_torque_nm":-0.3355823755264282,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5946220755577087,"velocity_rad_s":-0.5726861953735352,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[37,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28444695472717285,"velocity_rad_s":0.003728659823536873,"acceleration_raw":0.0,"estimated_torque_nm":5.863368034362793,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0025673145428299904,"velocity_rad_s":-0.0009481961606070399,"acceleration_raw":0.0,"estimated_torque_nm":1.317911148071289,"temperature_raw":[40,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00020087843586225063,"velocity_rad_s":1.5290331840515137,"acceleration_raw":0.0,"estimated_torque_nm":-7.494673252105713,"temperature_raw":[35,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00035692547680810094,"velocity_rad_s":-0.20996323227882385,"acceleration_raw":0.0,"estimated_torque_nm":0.9369879961013794,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.004338288679718971,"velocity_rad_s":-1.306467890739441,"acceleration_raw":0.0,"estimated_torque_nm":7.038549900054932,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2810540497303009,"velocity_rad_s":-0.7531846165657043,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21868814527988434,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":51.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00695085059851408,"velocity_rad_s":-0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9839648008346558,"velocity_rad_s":0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[39,38],"voltage_raw":51.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.034754253923892975,"velocity_rad_s":1.4603497982025146,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.010821755044162273,"velocity_rad_s":-0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":-0.034202978014945984,"velocity_rad_s":0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":28.75,"temperature_raw":[43,45],"voltage_raw":51.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.11162107437849045,"velocity_rad_s":-1.5201749801635742,"acceleration_raw":0.0,"estimated_torque_nm":-6.8125,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.07627959549427032,"velocity_rad_s":-0.6596117615699768,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.5729538202285767,"velocity_rad_s":13.43460464477539,"acceleration_raw":0.0,"estimated_torque_nm":10.625,"temperature_raw":[44,46],"voltage_raw":51.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.11948272585868835,"velocity_rad_s":-2.9697868824005127,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,39],"voltage_raw":51.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5660868883132935,"velocity_rad_s":-14.118760108947754,"acceleration_raw":0.0,"estimated_torque_nm":5.262499809265137,"temperature_raw":[47,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.061982411891222,"velocity_rad_s":0.7853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":0.13750000298023224,"temperature_raw":[39,36],"voltage_raw":51.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787676429888,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809730,"imu":{"quaternion":[0.9921019673347473,-0.0012459609424695373,0.02204240672290325,0.12347619980573654],"gyroscope":[-0.32810139656066895,-0.37923410534858704,1.2602076530456543],"accelerometer":[-0.47405192255973816,1.7606360912322998,9.319430351257324],"rpy":[0.002974074799567461,0.044058576226234436,0.2477104663848877],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33993014693260193,"velocity_rad_s":0.4876013696193695,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017189105972647667,"velocity_rad_s":-0.2617993950843811,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.0068566505797207355,"velocity_rad_s":-0.9976426362991333,"acceleration_raw":0.0,"estimated_torque_nm":6.15234375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6246710419654846,"velocity_rad_s":0.34579336643218994,"acceleration_raw":0.0,"estimated_torque_nm":-6.767578125,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3072946071624756,"velocity_rad_s":-0.037116460502147675,"acceleration_raw":0.0,"estimated_torque_nm":10.849723815917969,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01015415322035551,"velocity_rad_s":0.009032136760652065,"acceleration_raw":0.0,"estimated_torque_nm":-0.9516296982765198,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.339665949344635,"velocity_rad_s":1.2075496912002563,"acceleration_raw":0.0,"estimated_torque_nm":3.251953125,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014479073695838451,"velocity_rad_s":-0.21380284428596497,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.014356112107634544,"velocity_rad_s":-0.6222410798072815,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":51.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5918183326721191,"velocity_rad_s":0.1385355144739151,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2848324775695801,"velocity_rad_s":-0.06852400302886963,"acceleration_raw":0.0,"estimated_torque_nm":8.259689331054688,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002974855015054345,"velocity_rad_s":0.10143378376960754,"acceleration_raw":0.0,"estimated_torque_nm":1.1913676261901855,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.02757391333580017,"velocity_rad_s":1.265052080154419,"acceleration_raw":0.0,"estimated_torque_nm":-11.801314353942871,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002292698947712779,"velocity_rad_s":-0.15857884287834167,"acceleration_raw":0.0,"estimated_torque_nm":1.7541519403457642,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02267921343445778,"velocity_rad_s":-0.8153926134109497,"acceleration_raw":0.0,"estimated_torque_nm":5.801224708557129,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26889005303382874,"velocity_rad_s":-0.4632622301578522,"acceleration_raw":0.0,"estimated_torque_nm":3.4375,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21843647956848145,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0062917182222008705,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9766544103622437,"velocity_rad_s":-0.5537670850753784,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05547497794032097,"velocity_rad_s":0.6197282671928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.38749998807907104,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014129401184618473,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0015939020086079836,"velocity_rad_s":2.6737287044525146,"acceleration_raw":0.0,"estimated_torque_nm":22.0,"temperature_raw":[43,45],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1457042098045349,"velocity_rad_s":-1.9236119985580444,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0637560784816742,"velocity_rad_s":-0.5660389065742493,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7480433583259583,"velocity_rad_s":6.264777660369873,"acceleration_raw":0.0,"estimated_torque_nm":7.0,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07359512895345688,"velocity_rad_s":-2.161379098892212,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.754490852355957,"velocity_rad_s":-6.234097957611084,"acceleration_raw":0.0,"estimated_torque_nm":4.431250095367432,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.054923705756664276,"velocity_rad_s":0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":0.16249999403953552,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787677410368,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809731,"imu":{"quaternion":[0.9920256733894348,-0.001335231470875442,0.02179890312254429,0.12412930279970169],"gyroscope":[-0.33236247301101685,-0.38775619864463806,1.3049488067626953],"accelerometer":[0.2890998423099518,1.9410990476608276,11.164462089538574],"rpy":[0.0027652280405163765,0.043595436960458755,0.24902057647705078],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3395210802555084,"velocity_rad_s":0.49960052967071533,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017402159050107002,"velocity_rad_s":-0.29016098380088806,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.00839671865105629,"velocity_rad_s":-1.0559241771697998,"acceleration_raw":0.0,"estimated_torque_nm":6.320135116577148,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6252591013908386,"velocity_rad_s":0.41342487931251526,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3073318898677826,"velocity_rad_s":-0.0434824675321579,"acceleration_raw":0.0,"estimated_torque_nm":10.849723815917969,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010161134414374828,"velocity_rad_s":0.008989844471216202,"acceleration_raw":0.0,"estimated_torque_nm":-0.9516296982765198,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3386688530445099,"velocity_rad_s":1.2380928993225098,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014317153953015804,"velocity_rad_s":-0.2410736083984375,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.015360504388809204,"velocity_rad_s":-0.6702376008033752,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5919716954231262,"velocity_rad_s":0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2849337160587311,"velocity_rad_s":-0.09166743606328964,"acceleration_raw":0.0,"estimated_torque_nm":8.528305053710938,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00313474889844656,"velocity_rad_s":0.12660960853099823,"acceleration_raw":0.0,"estimated_torque_nm":1.1412618160247803,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.028457777574658394,"velocity_rad_s":1.265052080154419,"acceleration_raw":0.0,"estimated_torque_nm":-11.857244491577148,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002171364612877369,"velocity_rad_s":-0.09152564406394958,"acceleration_raw":0.0,"estimated_torque_nm":1.6554899215698242,"temperature_raw":[41,41],"voltage_raw":51.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.023260759189724922,"velocity_rad_s":-0.8014581203460693,"acceleration_raw":0.0,"estimated_torque_nm":5.8012471199035645,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26859045028686523,"velocity_rad_s":-0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":3.4375,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21838854253292084,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006219812668859959,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759114384651184,"velocity_rad_s":-0.5292233824729919,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05589442700147629,"velocity_rad_s":0.5706408619880676,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014165353961288929,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0036192359402775764,"velocity_rad_s":2.6936702728271484,"acceleration_raw":0.0,"estimated_torque_nm":21.75,"temperature_raw":[43,45],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1471782773733139,"velocity_rad_s":-1.9466216564178467,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06300107389688492,"velocity_rad_s":-0.5322913527488708,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7557372450828552,"velocity_rad_s":5.6880011558532715,"acceleration_raw":0.0,"estimated_torque_nm":7.125,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.07177352160215378,"velocity_rad_s":-2.185922622680664,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7587932348251343,"velocity_rad_s":-5.951845645904541,"acceleration_raw":0.0,"estimated_torque_nm":4.375,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05462409928441048,"velocity_rad_s":0.39269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":0.17499999701976776,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787679495392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809732,"imu":{"quaternion":[0.9919467568397522,-0.0014242654433473945,0.021550724282860756,0.12480133026838303],"gyroscope":[-0.33236247301101685,-0.40160465240478516,1.343298316001892],"accelerometer":[0.2890998423099518,1.9410990476608276,11.164462089538574],"rpy":[0.0025559053756296635,0.04312320426106453,0.25036901235580444],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3390779197216034,"velocity_rad_s":0.5246896147727966,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017555557191371918,"velocity_rad_s":-0.2716168761253357,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.009119881317019463,"velocity_rad_s":-1.0679234266281128,"acceleration_raw":0.0,"estimated_torque_nm":6.431995868682861,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6255658864974976,"velocity_rad_s":0.4112432301044464,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30741891264915466,"velocity_rad_s":-0.056739404797554016,"acceleration_raw":0.0,"estimated_torque_nm":10.849723815917969,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010167820379137993,"velocity_rad_s":0.011685383506119251,"acceleration_raw":0.0,"estimated_torque_nm":-0.9516296982765198,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3377399444580078,"velocity_rad_s":1.2457287311553955,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.25852692127227783,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.015922963619232178,"velocity_rad_s":-0.7096633911132812,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5920484066009521,"velocity_rad_s":0.12217305600643158,"acceleration_raw":0.0,"estimated_torque_nm":-0.087890625,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28521987795829773,"velocity_rad_s":-0.14336976408958435,"acceleration_raw":0.0,"estimated_torque_nm":8.528305053710938,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003484110115095973,"velocity_rad_s":0.18811102211475372,"acceleration_raw":0.0,"estimated_torque_nm":1.1412618160247803,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.029301468282938004,"velocity_rad_s":1.1964856386184692,"acceleration_raw":0.0,"estimated_torque_nm":-11.96910572052002,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0020196421537548304,"velocity_rad_s":-0.020582379773259163,"acceleration_raw":0.0,"estimated_torque_nm":1.5078644752502441,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.023755304515361786,"velocity_rad_s":-0.7739086747169495,"acceleration_raw":0.0,"estimated_torque_nm":5.878635883331299,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26836276054382324,"velocity_rad_s":-0.40343695878982544,"acceleration_raw":0.0,"estimated_torque_nm":3.375,"temperature_raw":[43,42],"voltage_raw":51.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21834060549736023,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006195844616740942,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755878448486328,"velocity_rad_s":-0.5046796798706055,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.056601494550704956,"velocity_rad_s":0.5092816352844238,"acceleration_raw":0.0,"estimated_torque_nm":-0.36250001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014189322479069233,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.005944175645709038,"velocity_rad_s":2.8117868900299072,"acceleration_raw":0.0,"estimated_torque_nm":21.375,"temperature_raw":[43,45],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.14866431057453156,"velocity_rad_s":-1.954291582107544,"acceleration_raw":0.0,"estimated_torque_nm":-4.25,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06265352666378021,"velocity_rad_s":-0.5292233824729919,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7592006921768188,"velocity_rad_s":5.442564010620117,"acceleration_raw":0.0,"estimated_torque_nm":7.0625,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.06853778660297394,"velocity_rad_s":-2.178252696990967,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7672540545463562,"velocity_rad_s":-5.49165153503418,"acceleration_raw":0.0,"estimated_torque_nm":4.306250095367432,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05438441410660744,"velocity_rad_s":0.3497476279735565,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787682095392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809733,"imu":{"quaternion":[0.9917821884155273,-0.001601055497303605,0.02102764882147312,0.1261882185935974],"gyroscope":[-0.33236247301101685,-0.4452804923057556,1.4008225202560425],"accelerometer":[0.9463081955909729,2.1978771686553955,11.133037567138672],"rpy":[0.0021329803857952356,0.04212621971964836,0.25315263867378235],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33869442343711853,"velocity_rad_s":0.5355979204177856,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017726000398397446,"velocity_rad_s":-0.2508910894393921,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.01000374648720026,"velocity_rad_s":-1.0679234266281128,"acceleration_raw":0.0,"estimated_torque_nm":6.543856620788574,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.625906765460968,"velocity_rad_s":0.42869651317596436,"acceleration_raw":0.0,"estimated_torque_nm":-7.20703125,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30746451020240784,"velocity_rad_s":-0.057275474071502686,"acceleration_raw":0.0,"estimated_torque_nm":10.849723815917969,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010174746625125408,"velocity_rad_s":0.008898206986486912,"acceleration_raw":0.0,"estimated_torque_nm":-0.9516296982765198,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3366917371749878,"velocity_rad_s":1.2871803045272827,"acceleration_raw":0.0,"estimated_torque_nm":2.98828125,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":-0.22143866121768951,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01647203229367733,"velocity_rad_s":-0.7096633911132812,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5921165943145752,"velocity_rad_s":0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-0.087890625,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28540924191474915,"velocity_rad_s":-0.16644339263439178,"acceleration_raw":0.0,"estimated_torque_nm":8.528305053710938,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003709790064021945,"velocity_rad_s":0.20218044519424438,"acceleration_raw":0.0,"estimated_torque_nm":1.1412618160247803,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.030868319794535637,"velocity_rad_s":1.1724872589111328,"acceleration_raw":0.0,"estimated_torque_nm":-11.801314353942871,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.001867830054834485,"velocity_rad_s":0.046650227159261703,"acceleration_raw":0.0,"estimated_torque_nm":1.233098030090332,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.024240225553512573,"velocity_rad_s":-0.7411815524101257,"acceleration_raw":0.0,"estimated_torque_nm":5.590104579925537,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2681710124015808,"velocity_rad_s":-0.37889325618743896,"acceleration_raw":0.0,"estimated_torque_nm":3.375,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21828067302703857,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006171876098960638,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9752522706985474,"velocity_rad_s":-0.47860202193260193,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05694903805851936,"velocity_rad_s":0.45405831933021545,"acceleration_raw":0.0,"estimated_torque_nm":-0.3499999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014213290996849537,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.008580705150961876,"velocity_rad_s":2.9375734329223633,"acceleration_raw":0.0,"estimated_torque_nm":21.0,"temperature_raw":[43,45],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.15018631517887115,"velocity_rad_s":-1.93588387966156,"acceleration_raw":0.0,"estimated_torque_nm":-4.125,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06229400262236595,"velocity_rad_s":-0.5353593230247498,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7625083327293396,"velocity_rad_s":5.132699966430664,"acceleration_raw":0.0,"estimated_torque_nm":7.125,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.06690792739391327,"velocity_rad_s":-2.144505262374878,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.771304726600647,"velocity_rad_s":-5.221670627593994,"acceleration_raw":0.0,"estimated_torque_nm":4.262499809265137,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.054060839116573334,"velocity_rad_s":0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":0.20000000298023224,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787684860352,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809734,"imu":{"quaternion":[0.9917821884155273,-0.001601055497303605,0.02102764882147312,0.1261882185935974],"gyroscope":[-0.33236247301101685,-0.4452804923057556,1.4008225202560425],"accelerometer":[0.9463081955909729,2.1978771686553955,11.133037567138672],"rpy":[0.0021329803857952356,0.04212621971964836,0.25315263867378235],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377569913864136,"velocity_rad_s":0.6086835861206055,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018041318282485008,"velocity_rad_s":-0.2203478217124939,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.010700124315917492,"velocity_rad_s":-1.011355996131897,"acceleration_raw":0.0,"estimated_torque_nm":6.543856620788574,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6262220740318298,"velocity_rad_s":0.4406956434249878,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3075059652328491,"velocity_rad_s":-0.06207782030105591,"acceleration_raw":0.0,"estimated_torque_nm":10.849723815917969,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010159995406866074,"velocity_rad_s":-0.005051779095083475,"acceleration_raw":0.0,"estimated_torque_nm":-0.9516296982765198,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3348424434661865,"velocity_rad_s":1.2533645629882812,"acceleration_raw":0.0,"estimated_torque_nm":2.98828125,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013814348727464676,"velocity_rad_s":-0.17889626324176788,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.017021099105477333,"velocity_rad_s":-0.7250908017158508,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5921762585639954,"velocity_rad_s":0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28561511635780334,"velocity_rad_s":-0.1997494250535965,"acceleration_raw":0.0,"estimated_torque_nm":8.528305053710938,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00390669098123908,"velocity_rad_s":0.22836418449878693,"acceleration_raw":0.0,"estimated_torque_nm":1.1412618160247803,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03156469762325287,"velocity_rad_s":1.1073490381240845,"acceleration_raw":0.0,"estimated_torque_nm":-11.913174629211426,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0016857380978763103,"velocity_rad_s":0.06693392246961594,"acceleration_raw":0.0,"estimated_torque_nm":0.9803413152694702,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025053290650248528,"velocity_rad_s":-0.6478061079978943,"acceleration_raw":0.0,"estimated_torque_nm":4.891385555267334,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26785942912101746,"velocity_rad_s":-0.30066025257110596,"acceleration_raw":0.0,"estimated_torque_nm":3.25,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2181728184223175,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006171876098960638,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9749646782875061,"velocity_rad_s":-0.4463884234428406,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05723666027188301,"velocity_rad_s":0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.3499999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014213290996849537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.013374395668506622,"velocity_rad_s":3.011204481124878,"acceleration_raw":0.0,"estimated_torque_nm":20.375,"temperature_raw":[43,45],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.15299062430858612,"velocity_rad_s":-1.889864444732666,"acceleration_raw":0.0,"estimated_torque_nm":-4.0,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.061958443373441696,"velocity_rad_s":-0.5123496055603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7656362056732178,"velocity_rad_s":4.902602672576904,"acceleration_raw":0.0,"estimated_torque_nm":7.25,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.06537394970655441,"velocity_rad_s":-2.127631425857544,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7750797867774963,"velocity_rad_s":-4.933282375335693,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.053952980786561966,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787689420032,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809735,"imu":{"quaternion":[0.9916973114013672,-0.0016848297091200948,0.020741021260619164,0.12689939141273499],"gyroscope":[-0.3302319347858429,-0.4868257939815521,1.423193097114563],"accelerometer":[1.0630255937576294,2.6557681560516357,10.57728385925293],"rpy":[0.0019240278052166104,0.041577212512493134,0.25458037853240967],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3372882902622223,"velocity_rad_s":0.623955249786377,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018211761489510536,"velocity_rad_s":-0.22252948582172394,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.012240192852914333,"velocity_rad_s":-0.9942143559455872,"acceleration_raw":0.0,"estimated_torque_nm":6.59978723526001,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.626579999923706,"velocity_rad_s":0.4625122547149658,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30753496289253235,"velocity_rad_s":-0.05569325387477875,"acceleration_raw":0.0,"estimated_torque_nm":10.849723815917969,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010167031548917294,"velocity_rad_s":0.0042693582363426685,"acceleration_raw":0.0,"estimated_torque_nm":-0.9516296982765198,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3338538706302643,"velocity_rad_s":1.2784537076950073,"acceleration_raw":0.0,"estimated_torque_nm":2.900390625,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013712083920836449,"velocity_rad_s":-0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01811923459172249,"velocity_rad_s":-0.7353758215904236,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.592287003993988,"velocity_rad_s":0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2858210504055023,"velocity_rad_s":-0.22335180640220642,"acceleration_raw":0.0,"estimated_torque_nm":8.528305053710938,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004118049517273903,"velocity_rad_s":0.24151241779327393,"acceleration_raw":0.0,"estimated_torque_nm":1.1412618160247803,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03220750764012337,"velocity_rad_s":1.0182126760482788,"acceleration_raw":0.0,"estimated_torque_nm":-11.745383262634277,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0017769333207979798,"velocity_rad_s":0.01737043634057045,"acceleration_raw":0.0,"estimated_torque_nm":1.029940128326416,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025396397337317467,"velocity_rad_s":-0.6045908331871033,"acceleration_raw":0.0,"estimated_torque_nm":4.662082195281982,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26773956418037415,"velocity_rad_s":-0.27458256483078003,"acceleration_raw":0.0,"estimated_torque_nm":3.25,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2180769443511963,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006135923322290182,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9744373559951782,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.057500313967466354,"velocity_rad_s":0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":-0.3375000059604645,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014213290996849537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.01571131870150566,"velocity_rad_s":3.0572237968444824,"acceleration_raw":0.0,"estimated_torque_nm":20.1875,"temperature_raw":[43,45],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1543208658695221,"velocity_rad_s":-1.8683886528015137,"acceleration_raw":0.0,"estimated_torque_nm":-3.9375,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06143113970756531,"velocity_rad_s":-0.4463884234428406,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7712687849998474,"velocity_rad_s":4.364175319671631,"acceleration_raw":0.0,"estimated_torque_nm":7.4375,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.06362425535917282,"velocity_rad_s":-2.1506412029266357,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7784593105316162,"velocity_rad_s":-4.693981170654297,"acceleration_raw":0.0,"estimated_torque_nm":4.206250190734863,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.053893059492111206,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.23125000298023224,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787690524704,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809736,"imu":{"quaternion":[0.9916106462478638,-0.0017611145740374923,0.02043246291577816,0.1276240348815918],"gyroscope":[-0.3217098116874695,-0.5336974263191223,1.4508899450302124],"accelerometer":[1.3682862520217896,2.68180513381958,11.02978801727295],"rpy":[0.0017241151072084904,0.040983084589242935,0.25603562593460083],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33675140142440796,"velocity_rad_s":0.6446810364723206,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01836515963077545,"velocity_rad_s":-0.23452861607074738,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.012909787707030773,"velocity_rad_s":-0.9890719056129456,"acceleration_raw":0.0,"estimated_torque_nm":6.711647987365723,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6272958517074585,"velocity_rad_s":0.46360310912132263,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3075847327709198,"velocity_rad_s":-0.056754257529973984,"acceleration_raw":0.0,"estimated_torque_nm":10.849723815917969,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010152207687497139,"velocity_rad_s":0.004262309055775404,"acceleration_raw":0.0,"estimated_torque_nm":-0.9516296982765198,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.332754522562027,"velocity_rad_s":1.3362677097320557,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013592774048447609,"velocity_rad_s":-0.16689711809158325,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01862812601029873,"velocity_rad_s":-0.6942358613014221,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5923296213150024,"velocity_rad_s":0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2862372100353241,"velocity_rad_s":-0.25988587737083435,"acceleration_raw":0.0,"estimated_torque_nm":8.579404830932617,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004634753335267305,"velocity_rad_s":0.26305726170539856,"acceleration_raw":0.0,"estimated_torque_nm":1.14158296585083,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.032836928963661194,"velocity_rad_s":0.9085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":-11.35387134552002,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0019516550237312913,"velocity_rad_s":-0.045802950859069824,"acceleration_raw":0.0,"estimated_torque_nm":1.2768019437789917,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025695282965898514,"velocity_rad_s":-0.5544871687889099,"acceleration_raw":0.0,"estimated_torque_nm":4.43779182434082,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26755982637405396,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":3.1875,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21804098784923553,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006135923322290182,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9741857051849365,"velocity_rad_s":-0.3911651074886322,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05790777504444122,"velocity_rad_s":0.2761165499687195,"acceleration_raw":0.0,"estimated_torque_nm":-0.3187499940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014213290996849537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.018335863947868347,"velocity_rad_s":3.1569325923919678,"acceleration_raw":0.0,"estimated_torque_nm":19.8125,"temperature_raw":[43,45],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.15562714636325836,"velocity_rad_s":-1.8453789949417114,"acceleration_raw":0.0,"estimated_torque_nm":-3.875,"temperature_raw":[40,40],"voltage_raw":51.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.061167486011981964,"velocity_rad_s":-0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7738693356513977,"velocity_rad_s":4.129476547241211,"acceleration_raw":0.0,"estimated_torque_nm":7.5,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.06040049344301224,"velocity_rad_s":-2.1659810543060303,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7851585149765015,"velocity_rad_s":-4.405592918395996,"acceleration_raw":0.0,"estimated_torque_nm":4.206250190734863,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05385710671544075,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.23125000298023224,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787693150784,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809737,"imu":{"quaternion":[0.9915222525596619,-0.0018257463816553354,0.020098673179745674,0.12836092710494995],"gyroscope":[-0.3057308495044708,-0.5880259275436401,1.4764562845230103],"accelerometer":[1.3682862520217896,2.68180513381958,11.02978801727295],"rpy":[0.0015404857695102692,0.040336210280656815,0.25751590728759766],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33619746565818787,"velocity_rad_s":0.7035858631134033,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018518555909395218,"velocity_rad_s":-0.2410736083984375,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.013753476552665234,"velocity_rad_s":-1.0010709762573242,"acceleration_raw":0.0,"estimated_torque_nm":6.711647987365723,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.627636730670929,"velocity_rad_s":0.46905723214149475,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3076343834400177,"velocity_rad_s":-0.058853983879089355,"acceleration_raw":0.0,"estimated_torque_nm":10.849723815917969,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010195376351475716,"velocity_rad_s":0.015382825396955013,"acceleration_raw":0.0,"estimated_torque_nm":-0.9516296982765198,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.331748902797699,"velocity_rad_s":1.356993556022644,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013456420041620731,"velocity_rad_s":-0.17235127091407776,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019217370077967644,"velocity_rad_s":-0.7199482917785645,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.592363715171814,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2865200638771057,"velocity_rad_s":-0.2789686620235443,"acceleration_raw":0.0,"estimated_torque_nm":8.488773345947266,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004723779857158661,"velocity_rad_s":0.2558053433895111,"acceleration_raw":0.0,"estimated_torque_nm":1.0892196893692017,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.034028805792331696,"velocity_rad_s":0.8690804839134216,"acceleration_raw":0.0,"estimated_torque_nm":-11.130148887634277,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0021947200875729322,"velocity_rad_s":-0.1070316880941391,"acceleration_raw":0.0,"estimated_torque_nm":1.573081612586975,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025979453697800636,"velocity_rad_s":-0.5176002383232117,"acceleration_raw":0.0,"estimated_torque_nm":4.131655216217041,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2674040198326111,"velocity_rad_s":-0.26691266894340515,"acceleration_raw":0.0,"estimated_torque_nm":3.1875,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21800504624843597,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006111954804509878,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9739220142364502,"velocity_rad_s":-0.36968937516212463,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.058039601892232895,"velocity_rad_s":0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-0.3062500059604645,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014201306737959385,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.021152157336473465,"velocity_rad_s":3.248971462249756,"acceleration_raw":0.0,"estimated_torque_nm":19.25,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.15702930092811584,"velocity_rad_s":-1.8162332773208618,"acceleration_raw":0.0,"estimated_torque_nm":-3.875,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06095176935195923,"velocity_rad_s":-0.3880971670150757,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7765058875083923,"velocity_rad_s":3.9101171493530273,"acceleration_raw":0.0,"estimated_torque_nm":7.625,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.05862683057785034,"velocity_rad_s":-2.175184726715088,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7883822321891785,"velocity_rad_s":-4.338098049163818,"acceleration_raw":0.0,"estimated_torque_nm":4.162499904632568,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0538690909743309,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.24375000596046448,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787696066464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809738,"imu":{"quaternion":[0.9914321303367615,-0.001877811853773892,0.019742293283343315,0.1291089653968811],"gyroscope":[-0.28655609488487244,-0.6370280385017395,1.4998921155929565],"accelerometer":[1.3844470977783203,2.1745336055755615,10.554838180541992],"rpy":[0.0013754487736150622,0.03964155539870262,0.25901922583580017],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33500435948371887,"velocity_rad_s":0.7832165360450745,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018680477514863014,"velocity_rad_s":-0.2312561273574829,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.014476639218628407,"velocity_rad_s":-1.0627808570861816,"acceleration_raw":0.0,"estimated_torque_nm":7.159090995788574,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6279861927032471,"velocity_rad_s":0.4570581316947937,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3076799213886261,"velocity_rad_s":-0.06521627306938171,"acceleration_raw":0.0,"estimated_torque_nm":9.67603588104248,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010216813534498215,"velocity_rad_s":0.017196301370859146,"acceleration_raw":0.0,"estimated_torque_nm":-1.1042696237564087,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33011266589164734,"velocity_rad_s":1.0951942205429077,"acceleration_raw":0.0,"estimated_torque_nm":-5.009765625,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013217801228165627,"velocity_rad_s":-0.17889626324176788,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019699478521943092,"velocity_rad_s":-0.7062350511550903,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5924063324928284,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2867788076400757,"velocity_rad_s":-0.29335635900497437,"acceleration_raw":0.0,"estimated_torque_nm":6.955474376678467,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004942756611853838,"velocity_rad_s":0.262398362159729,"acceleration_raw":0.0,"estimated_torque_nm":1.1313780546188354,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03473857790231705,"velocity_rad_s":0.8587954640388489,"acceleration_raw":0.0,"estimated_torque_nm":-11.242010116577148,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002475718269124627,"velocity_rad_s":-0.2615535259246826,"acceleration_raw":0.0,"estimated_torque_nm":1.8654159307479858,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.026111943647265434,"velocity_rad_s":-0.3881095051765442,"acceleration_raw":0.0,"estimated_torque_nm":7.039290428161621,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26728418469429016,"velocity_rad_s":-0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":3.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2179211527109146,"velocity_rad_s":-0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006111954804509878,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9736823439598083,"velocity_rad_s":-0.3635534644126892,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.058219365775585175,"velocity_rad_s":0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-0.3062500059604645,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014189322479069233,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.026101643219590187,"velocity_rad_s":3.301126718521118,"acceleration_raw":0.0,"estimated_torque_nm":18.625,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1595340073108673,"velocity_rad_s":-1.7594760656356812,"acceleration_raw":0.0,"estimated_torque_nm":-3.75,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06071208417415619,"velocity_rad_s":-0.3666214346885681,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7786750197410583,"velocity_rad_s":3.6631462574005127,"acceleration_raw":0.0,"estimated_torque_nm":7.625,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.05705689638853073,"velocity_rad_s":-2.1675150394439697,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.791689932346344,"velocity_rad_s":-4.209243297576904,"acceleration_raw":0.0,"estimated_torque_nm":4.181250095367432,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05392901226878166,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.2562499940395355,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787698619552,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809739,"imu":{"quaternion":[0.9913403987884521,-0.001918552559800446,0.01936637982726097,0.12986770272254944],"gyroscope":[-0.26844659447669983,-0.68070387840271,1.522262692451477],"accelerometer":[0.6859387755393982,1.7103577852249146,10.342053413391113],"rpy":[0.0012271860614418983,0.03890547901391983,0.26054462790489197],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33438223600387573,"velocity_rad_s":0.8104872703552246,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018808308988809586,"velocity_rad_s":-0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.015574774704873562,"velocity_rad_s":-0.817655622959137,"acceleration_raw":0.0,"estimated_torque_nm":7.270951747894287,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6282503604888916,"velocity_rad_s":0.4166973829269409,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30776700377464294,"velocity_rad_s":-0.08009256422519684,"acceleration_raw":0.0,"estimated_torque_nm":9.13454532623291,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01019449532032013,"velocity_rad_s":0.005963004659861326,"acceleration_raw":0.0,"estimated_torque_nm":-1.2065116167068481,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32960987091064453,"velocity_rad_s":0.8977537751197815,"acceleration_raw":0.0,"estimated_torque_nm":-4.658203125,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013124058023095131,"velocity_rad_s":-0.16580629348754883,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.02052977681159973,"velocity_rad_s":-0.5759586691856384,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5923466682434082,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28709548711776733,"velocity_rad_s":-0.3273756802082062,"acceleration_raw":0.0,"estimated_torque_nm":6.143096923828125,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005133264232426882,"velocity_rad_s":0.2645202577114105,"acceleration_raw":0.0,"estimated_torque_nm":1.0744792222976685,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03531442955136299,"velocity_rad_s":0.867366373538971,"acceleration_raw":0.0,"estimated_torque_nm":-11.297940254211426,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0025895945727825165,"velocity_rad_s":-0.13709263503551483,"acceleration_raw":0.0,"estimated_torque_nm":2.358776807785034,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02597014792263508,"velocity_rad_s":-0.18372566998004913,"acceleration_raw":0.0,"estimated_torque_nm":6.886147975921631,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2673321068286896,"velocity_rad_s":-0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":3.0,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21790917217731476,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006087986286729574,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9731190800666809,"velocity_rad_s":-0.37582531571388245,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.058339208364486694,"velocity_rad_s":0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-0.3062500059604645,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014189322479069233,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.028846031054854393,"velocity_rad_s":3.354816198348999,"acceleration_raw":0.0,"estimated_torque_nm":18.375,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.16084028780460358,"velocity_rad_s":-1.7380002737045288,"acceleration_raw":0.0,"estimated_torque_nm":-3.6875,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06024470180273056,"velocity_rad_s":-0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7805805206298828,"velocity_rad_s":3.4008355140686035,"acceleration_raw":0.0,"estimated_torque_nm":7.6875,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.055510930716991425,"velocity_rad_s":-2.1537091732025146,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7945780754089355,"velocity_rad_s":-4.0128936767578125,"acceleration_raw":0.0,"estimated_torque_nm":4.125,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05398893356323242,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.26875001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787701165216,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809740,"imu":{"quaternion":[0.9912467002868652,-0.0019505518721416593,0.018976762890815735,0.13063764572143555],"gyroscope":[-0.25353291630744934,-0.7126618027687073,1.5456985235214233],"accelerometer":[0.1041477769613266,1.0567407608032227,8.999804496765137],"rpy":[0.0010919974884018302,0.0381401851773262,0.26209303736686707],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3337090015411377,"velocity_rad_s":0.8377581238746643,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018816830590367317,"velocity_rad_s":-0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.016043491661548615,"velocity_rad_s":-0.7970856428146362,"acceleration_raw":0.0,"estimated_torque_nm":7.103160381317139,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6286338567733765,"velocity_rad_s":0.2934334874153137,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30799946188926697,"velocity_rad_s":-0.13161605596542358,"acceleration_raw":0.0,"estimated_torque_nm":9.13454532623291,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010004480369389057,"velocity_rad_s":-0.026854824274778366,"acceleration_raw":0.0,"estimated_torque_nm":-1.2065116167068481,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32919228076934814,"velocity_rad_s":0.6883142590522766,"acceleration_raw":0.0,"estimated_torque_nm":-4.306640625,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013021792285144329,"velocity_rad_s":-0.15817047655582428,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.020891357213258743,"velocity_rad_s":-0.5211054682731628,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.592201828956604,"velocity_rad_s":-0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-2.4609375,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2877514660358429,"velocity_rad_s":-0.3961957097053528,"acceleration_raw":0.0,"estimated_torque_nm":6.053291320800781,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005810922011733055,"velocity_rad_s":0.30856624245643616,"acceleration_raw":0.0,"estimated_torque_nm":1.1257085800170898,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0359974168241024,"velocity_rad_s":0.86393803358078,"acceleration_raw":0.0,"estimated_torque_nm":-11.35387134552002,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0026047485880553722,"velocity_rad_s":-0.12054876983165741,"acceleration_raw":0.0,"estimated_torque_nm":2.3600919246673584,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025813547894358635,"velocity_rad_s":-0.09161343425512314,"acceleration_raw":0.0,"estimated_torque_nm":5.8148908615112305,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26734408736228943,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":2.9375,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21786123514175415,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00606401776894927,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9727475643157959,"velocity_rad_s":-0.41724279522895813,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.058459050953388214,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014201306737959385,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.03141065314412117,"velocity_rad_s":3.3026607036590576,"acceleration_raw":0.0,"estimated_torque_nm":18.1875,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.16205069422721863,"velocity_rad_s":-1.7180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-3.625,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.06006493791937828,"velocity_rad_s":-0.30526217818260193,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7847510576248169,"velocity_rad_s":3.1078453063964844,"acceleration_raw":0.0,"estimated_torque_nm":7.875,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.05183177441358566,"velocity_rad_s":-2.2350101470947266,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7974662780761719,"velocity_rad_s":-3.7613210678100586,"acceleration_raw":0.0,"estimated_torque_nm":4.09375,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.054072823375463486,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":0.26875001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787703692672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809741,"imu":{"quaternion":[0.9911512732505798,-0.0019755894318223,0.018578777089715004,0.13141615688800812],"gyroscope":[-0.23861920833587646,-0.733967125415802,1.5638079643249512],"accelerometer":[-0.2882020175457001,-0.18405425548553467,8.60925006866455],"rpy":[0.0009675620240159333,0.03735669329762459,0.26365914940834045],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3330698311328888,"velocity_rad_s":0.8279405832290649,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01877422071993351,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.016512207686901093,"velocity_rad_s":-0.7079492211341858,"acceleration_raw":0.0,"estimated_torque_nm":7.103160381317139,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288127899169922,"velocity_rad_s":0.2825251817703247,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3082231283187866,"velocity_rad_s":-0.16342751681804657,"acceleration_raw":0.0,"estimated_torque_nm":9.043839454650879,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010075480677187443,"velocity_rad_s":-0.017787452787160873,"acceleration_raw":0.0,"estimated_torque_nm":-1.154667615890503,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3289025127887726,"velocity_rad_s":0.5563237071037292,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01293657161295414,"velocity_rad_s":-0.14289884269237518,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.02117258682847023,"velocity_rad_s":-0.4628239572048187,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5922273397445679,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28834524750709534,"velocity_rad_s":-0.45934149622917175,"acceleration_raw":0.0,"estimated_torque_nm":5.872854232788086,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005837335251271725,"velocity_rad_s":0.295186847448349,"acceleration_raw":0.0,"estimated_torque_nm":1.1245746612548828,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03717590123414993,"velocity_rad_s":0.8056564927101135,"acceleration_raw":0.0,"estimated_torque_nm":-11.521661758422852,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002665487118065357,"velocity_rad_s":-0.11373385787010193,"acceleration_raw":0.0,"estimated_torque_nm":2.311432123184204,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025745103135704994,"velocity_rad_s":-0.04086054116487503,"acceleration_raw":0.0,"estimated_torque_nm":5.279272556304932,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26734408736228943,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":2.875,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.217873215675354,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006052033975720406,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9722082614898682,"velocity_rad_s":-0.5062136650085449,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05849500373005867,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.26875001192092896,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014165353961288929,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.03385543450713158,"velocity_rad_s":3.3087966442108154,"acceleration_raw":0.0,"estimated_torque_nm":18.0,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.16339293122291565,"velocity_rad_s":-1.7057867050170898,"acceleration_raw":0.0,"estimated_torque_nm":-3.5625,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0598612055182457,"velocity_rad_s":-0.3067961633205414,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7866085767745972,"velocity_rad_s":2.882349967956543,"acceleration_raw":0.0,"estimated_torque_nm":7.9375,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.050165966153144836,"velocity_rad_s":-2.2350101470947266,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8026914000511169,"velocity_rad_s":-3.4177093505859375,"acceleration_raw":0.0,"estimated_torque_nm":4.037499904632568,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05421663448214531,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.2562499940395355,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787705813856,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809742,"imu":{"quaternion":[0.9910551309585571,-0.001989886397495866,0.01817934960126877,0.13219472765922546],"gyroscope":[-0.2141181230545044,-0.742489218711853,1.564873218536377],"accelerometer":[-0.2882020175457001,-0.18405425548553467,8.60925006866455],"rpy":[0.000862830609548837,0.03656772896647453,0.2652260363101959],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33167222142219543,"velocity_rad_s":0.8781188130378723,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018697520717978477,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.016887180507183075,"velocity_rad_s":-0.574244499206543,"acceleration_raw":0.0,"estimated_torque_nm":6.879438877105713,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6289747357368469,"velocity_rad_s":0.25852692127227783,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30838075280189514,"velocity_rad_s":-0.18093587458133698,"acceleration_raw":0.0,"estimated_torque_nm":8.953819274902344,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010016441345214844,"velocity_rad_s":-0.018831629306077957,"acceleration_raw":0.0,"estimated_torque_nm":-1.2061500549316406,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3285616338253021,"velocity_rad_s":0.30652347207069397,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01284282747656107,"velocity_rad_s":-0.13526302576065063,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.021400248631834984,"velocity_rad_s":-0.39939990639686584,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.592363715171814,"velocity_rad_s":0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2887868285179138,"velocity_rad_s":-0.4966420829296112,"acceleration_raw":0.0,"estimated_torque_nm":5.872854232788086,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006086662877351046,"velocity_rad_s":0.31214267015457153,"acceleration_raw":0.0,"estimated_torque_nm":1.1245746612548828,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03779193013906479,"velocity_rad_s":0.7885148525238037,"acceleration_raw":0.0,"estimated_torque_nm":-11.409801483154297,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0026579087134450674,"velocity_rad_s":-0.08944043517112732,"acceleration_raw":0.0,"estimated_torque_nm":2.3610312938690186,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025828296318650246,"velocity_rad_s":-0.07278097420930862,"acceleration_raw":0.0,"estimated_torque_nm":5.049706935882568,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2672722041606903,"velocity_rad_s":-0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2178492397069931,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006040049716830254,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9715491533279419,"velocity_rad_s":-0.6013205051422119,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.058399129658937454,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014117416925728321,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.03910452872514725,"velocity_rad_s":3.436117172241211,"acceleration_raw":0.0,"estimated_torque_nm":17.375,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1646272987127304,"velocity_rad_s":-1.7042527198791504,"acceleration_raw":0.0,"estimated_torque_nm":-3.5,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05964548885822296,"velocity_rad_s":-0.2853204309940338,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7881305813789368,"velocity_rad_s":2.672194719314575,"acceleration_raw":0.0,"estimated_torque_nm":8.0625,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.04856007918715477,"velocity_rad_s":-2.219670295715332,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8050882816314697,"velocity_rad_s":-3.307262659072876,"acceleration_raw":0.0,"estimated_torque_nm":4.037499904632568,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05430052429437637,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.26875001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787708324160,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809743,"imu":{"quaternion":[0.9909588694572449,-0.0019932317081838846,0.01777978613972664,0.1329679638147354],"gyroscope":[-0.18748651444911957,-0.7467502951622009,1.555285930633545],"accelerometer":[0.8915408849716187,-0.314238965511322,11.77408504486084],"rpy":[0.0007783606415614486,0.03577577322721481,0.2667827606201172],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3308626115322113,"velocity_rad_s":0.9446594715118408,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018433336168527603,"velocity_rad_s":0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.017704086378216743,"velocity_rad_s":-0.5228195786476135,"acceleration_raw":0.0,"estimated_torque_nm":6.59978723526001,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6291621923446655,"velocity_rad_s":0.2716168761253357,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3085259199142456,"velocity_rad_s":-0.19000449776649475,"acceleration_raw":0.0,"estimated_torque_nm":8.953819274902344,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009950237348675728,"velocity_rad_s":-0.04394443333148956,"acceleration_raw":0.0,"estimated_torque_nm":-1.2061500549316406,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32851049304008484,"velocity_rad_s":0.18325957655906677,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012621252797544003,"velocity_rad_s":-0.1592613011598587,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.021802006289362907,"velocity_rad_s":-0.2931218147277832,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5926108360290527,"velocity_rad_s":0.23016531765460968,"acceleration_raw":0.0,"estimated_torque_nm":-4.39453125,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.28925788402557373,"velocity_rad_s":-0.5344682335853577,"acceleration_raw":0.0,"estimated_torque_nm":5.872854232788086,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006401332560926676,"velocity_rad_s":0.32817721366882324,"acceleration_raw":0.0,"estimated_torque_nm":1.1245746612548828,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03830082342028618,"velocity_rad_s":0.7268049716949463,"acceleration_raw":0.0,"estimated_torque_nm":-11.465731620788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0027794542256742716,"velocity_rad_s":-0.09042222052812576,"acceleration_raw":0.0,"estimated_torque_nm":2.3606555461883545,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.026034008711576462,"velocity_rad_s":-0.11851489543914795,"acceleration_raw":0.0,"estimated_torque_nm":5.355780601501465,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26723623275756836,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21786123514175415,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.006004096940159798,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9708181023597717,"velocity_rad_s":-0.6841554641723633,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05830325558781624,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014117416925728321,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.04171708971261978,"velocity_rad_s":3.3900976181030273,"acceleration_raw":0.0,"estimated_torque_nm":17.0625,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.16717994213104248,"velocity_rad_s":-1.7011847496032715,"acceleration_raw":0.0,"estimated_torque_nm":-3.375,"temperature_raw":[40,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05908222869038582,"velocity_rad_s":-0.3436117172241211,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7896406054496765,"velocity_rad_s":2.474311113357544,"acceleration_raw":0.0,"estimated_torque_nm":8.125,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.046846337616443634,"velocity_rad_s":-2.195126533508301,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.807832658290863,"velocity_rad_s":-3.2581753730773926,"acceleration_raw":0.0,"estimated_torque_nm":4.012499809265137,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.054372429847717285,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.28125,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787710833248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809744,"imu":{"quaternion":[0.9908627271652222,-0.001986443530768156,0.017377326264977455,0.13373547792434692],"gyroscope":[-0.16511596739292145,-0.7520766258239746,1.5446332693099976],"accelerometer":[3.3488895893096924,0.7101801037788391,13.50958251953125],"rpy":[0.0007117799832485616,0.03497553616762161,0.268328458070755],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3300444781780243,"velocity_rad_s":1.007927656173706,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018254371359944344,"velocity_rad_s":0.2007128894329071,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.01798531599342823,"velocity_rad_s":-0.5005354881286621,"acceleration_raw":0.0,"estimated_torque_nm":6.59978723526001,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6294775605201721,"velocity_rad_s":0.2258019745349884,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3087584972381592,"velocity_rad_s":-0.1910877823829651,"acceleration_raw":0.0,"estimated_torque_nm":8.953819274902344,"temperature_raw":[39,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009716724045574665,"velocity_rad_s":-0.05508609116077423,"acceleration_raw":0.0,"estimated_torque_nm":-1.2061500549316406,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3285360634326935,"velocity_rad_s":0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":-3.1640625,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012536032125353813,"velocity_rad_s":-0.12435471266508102,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.021949317306280136,"velocity_rad_s":-0.23312611877918243,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5932329893112183,"velocity_rad_s":0.38288164138793945,"acceleration_raw":0.0,"estimated_torque_nm":-5.2734375,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29001450538635254,"velocity_rad_s":-0.5627994537353516,"acceleration_raw":0.0,"estimated_torque_nm":5.783048629760742,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007238846737891436,"velocity_rad_s":0.35524195432662964,"acceleration_raw":0.0,"estimated_torque_nm":1.1758041381835938,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.038890063762664795,"velocity_rad_s":0.7490890622138977,"acceleration_raw":0.0,"estimated_torque_nm":-11.409801483154297,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002817445434629917,"velocity_rad_s":-0.0904238298535347,"acceleration_raw":0.0,"estimated_torque_nm":2.3604676723480225,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.026136836037039757,"velocity_rad_s":-0.12603260576725006,"acceleration_raw":0.0,"estimated_torque_nm":5.508817195892334,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26718831062316895,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21786123514175415,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005968144163489342,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9694279432296753,"velocity_rad_s":-0.8298836350440979,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05818341299891472,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.0442337766289711,"velocity_rad_s":3.405437469482422,"acceleration_raw":0.0,"estimated_torque_nm":16.875,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.16839034855365753,"velocity_rad_s":-1.702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":-3.3125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.058830562978982925,"velocity_rad_s":-0.34514570236206055,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7924089431762695,"velocity_rad_s":2.219670295715332,"acceleration_raw":0.0,"estimated_torque_nm":8.25,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.04357464239001274,"velocity_rad_s":-2.1460392475128174,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8101336359977722,"velocity_rad_s":-3.147728681564331,"acceleration_raw":0.0,"estimated_torque_nm":4.025000095367432,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05445631965994835,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.26875001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787713405312,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809745,"imu":{"quaternion":[0.9907671213150024,-0.0019725647289305925,0.016960900276899338,0.1344958245754242],"gyroscope":[-0.15233279764652252,-0.7765777111053467,1.5307848453521729],"accelerometer":[5.086182117462158,1.1321581602096558,15.312416076660156],"rpy":[0.0006540173199027777,0.034145843237638474,0.26986005902290344],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32922637462615967,"velocity_rad_s":1.0493792295455933,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018066884949803352,"velocity_rad_s":0.22143866121768951,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.018253153190016747,"velocity_rad_s":-0.4456822872161865,"acceleration_raw":0.0,"estimated_torque_nm":6.59978723526001,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6296223998069763,"velocity_rad_s":0.19744037091732025,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.308932363986969,"velocity_rad_s":-0.1926403045654297,"acceleration_raw":0.0,"estimated_torque_nm":8.953819274902344,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009817041456699371,"velocity_rad_s":-0.03561107814311981,"acceleration_raw":0.0,"estimated_torque_nm":-1.2061500549316406,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3286127746105194,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012425243854522705,"velocity_rad_s":-0.13744467496871948,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.02202966809272766,"velocity_rad_s":-0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5935653448104858,"velocity_rad_s":0.3839724659919739,"acceleration_raw":0.0,"estimated_torque_nm":-5.361328125,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29057636857032776,"velocity_rad_s":-0.5716850757598877,"acceleration_raw":0.0,"estimated_torque_nm":5.758135795593262,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007250215392559767,"velocity_rad_s":0.34011533856391907,"acceleration_raw":0.0,"estimated_torque_nm":1.1614104509353638,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0393453910946846,"velocity_rad_s":0.7028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-10.738636016845703,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002900993451476097,"velocity_rad_s":-0.09819991141557693,"acceleration_raw":0.0,"estimated_torque_nm":2.064939498901367,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.026210354641079903,"velocity_rad_s":-0.12604215741157532,"acceleration_raw":0.0,"estimated_torque_nm":5.2028069496154785,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2671763300895691,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":2.625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21788519620895386,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005944175645709038,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9688766598701477,"velocity_rad_s":-0.79460209608078,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.057799916714429855,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-0.3499999940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.046966180205345154,"velocity_rad_s":3.4069714546203613,"acceleration_raw":0.0,"estimated_torque_nm":13.625,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.16963671147823334,"velocity_rad_s":-1.6689711809158325,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05856690928339958,"velocity_rad_s":-0.34821364283561707,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7936553359031677,"velocity_rad_s":2.0540003776550293,"acceleration_raw":0.0,"estimated_torque_nm":5.3125,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.04199272394180298,"velocity_rad_s":-2.1506412029266357,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8133693933486938,"velocity_rad_s":-2.1537091732025146,"acceleration_raw":0.0,"estimated_torque_nm":6.362500190734863,"temperature_raw":[47,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.054552193731069565,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787715984448,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809746,"imu":{"quaternion":[0.9906721115112305,-0.0019512646831572056,0.016521351411938667,0.13524794578552246],"gyroscope":[-0.14168015122413635,-0.8202535510063171,1.5148059129714966],"accelerometer":[5.086182117462158,1.1321581602096558,15.312416076660156],"rpy":[0.0006031646626070142,0.03326842933893204,0.27137523889541626],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3276497721672058,"velocity_rad_s":1.0275626182556152,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017853831872344017,"velocity_rad_s":0.24980026483535767,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.01848081685602665,"velocity_rad_s":-0.3959715962409973,"acceleration_raw":0.0,"estimated_torque_nm":6.487926006317139,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6297332048416138,"velocity_rad_s":0.16253380477428436,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3090732991695404,"velocity_rad_s":-0.19899144768714905,"acceleration_raw":0.0,"estimated_torque_nm":8.953819274902344,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009801612235605717,"velocity_rad_s":-0.02823031134903431,"acceleration_raw":0.0,"estimated_torque_nm":-1.2061500549316406,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32862982153892517,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01230593491345644,"velocity_rad_s":-0.15053464472293854,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.022096628323197365,"velocity_rad_s":-0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5938721299171448,"velocity_rad_s":0.39706242084503174,"acceleration_raw":0.0,"estimated_torque_nm":-5.361328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29098594188690186,"velocity_rad_s":-0.5642444491386414,"acceleration_raw":0.0,"estimated_torque_nm":5.758135795593262,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0075279599986970425,"velocity_rad_s":0.3474721312522888,"acceleration_raw":0.0,"estimated_torque_nm":1.1614104509353638,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04061761870980263,"velocity_rad_s":0.7679449319839478,"acceleration_raw":0.0,"estimated_torque_nm":-10.514914512634277,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0031288110185414553,"velocity_rad_s":-0.1759537309408188,"acceleration_raw":0.0,"estimated_torque_nm":2.0653152465820312,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.026220422238111496,"velocity_rad_s":-0.09356087446212769,"acceleration_raw":0.0,"estimated_torque_nm":4.89673376083374,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.267152339220047,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":2.5,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21786123514175415,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005932191386818886,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.968397319316864,"velocity_rad_s":-0.7455146908760071,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05753626674413681,"velocity_rad_s":-0.3190680146217346,"acceleration_raw":0.0,"estimated_torque_nm":-0.3187499940395355,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.01396162249147892,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.05098089575767517,"velocity_rad_s":3.0710296630859375,"acceleration_raw":0.0,"estimated_torque_nm":11.75,"temperature_raw":[43,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1705954521894455,"velocity_rad_s":-1.5861362218856812,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.058339208364486694,"velocity_rad_s":-0.323669970035553,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[42,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7940987348556519,"velocity_rad_s":1.6950488090515137,"acceleration_raw":0.0,"estimated_torque_nm":3.75,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.04018310829997063,"velocity_rad_s":-2.169049024581909,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8143160939216614,"velocity_rad_s":-1.5707963705062866,"acceleration_raw":0.0,"estimated_torque_nm":6.193749904632568,"temperature_raw":[46,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.054552193731069565,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787718774464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809747,"imu":{"quaternion":[0.9905774593353271,-0.001923602307215333,0.016056044027209282,0.13599558174610138],"gyroscope":[-0.13422329723834991,-0.8724514842033386,1.5062837600708008],"accelerometer":[2.884713888168335,0.7487865686416626,13.1630220413208],"rpy":[0.00055643857922405,0.03233834728598595,0.27288150787353516],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32698506116867065,"velocity_rad_s":0.9370236396789551,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017342504113912582,"velocity_rad_s":0.317431777715683,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.018855789676308632,"velocity_rad_s":-0.29997849464416504,"acceleration_raw":0.0,"estimated_torque_nm":6.264204502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6298525333404541,"velocity_rad_s":0.1494438350200653,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3092016875743866,"velocity_rad_s":-0.1947029083967209,"acceleration_raw":0.0,"estimated_torque_nm":9.044525146484375,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009851522743701935,"velocity_rad_s":-0.005932879634201527,"acceleration_raw":0.0,"estimated_torque_nm":-1.2579940557479858,"temperature_raw":[40,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3283485770225525,"velocity_rad_s":0.19744037091732025,"acceleration_raw":0.0,"estimated_torque_nm":-4.921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011922439560294151,"velocity_rad_s":-0.25852692127227783,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.022110018879175186,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.594161868095398,"velocity_rad_s":0.3948807418346405,"acceleration_raw":0.0,"estimated_torque_nm":-5.2734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2913578152656555,"velocity_rad_s":-0.5471563339233398,"acceleration_raw":0.0,"estimated_torque_nm":5.758135795593262,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007754816208034754,"velocity_rad_s":0.34364956617355347,"acceleration_raw":0.0,"estimated_torque_nm":1.1614104509353638,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04122025519609451,"velocity_rad_s":0.7593740820884705,"acceleration_raw":0.0,"estimated_torque_nm":-10.682705879211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.003516186261549592,"velocity_rad_s":-0.2333497703075409,"acceleration_raw":0.0,"estimated_torque_nm":2.2563464641571045,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.026382973417639732,"velocity_rad_s":-0.09597629308700562,"acceleration_raw":0.0,"estimated_torque_nm":4.886995315551758,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.26718831062316895,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":2.4375,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21772940456867218,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005824333522468805,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9680857062339783,"velocity_rad_s":-0.6795535087585449,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.057200707495212555,"velocity_rad_s":-0.39269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.053353771567344666,"velocity_rad_s":3.100175380706787,"acceleration_raw":0.0,"estimated_torque_nm":11.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1723930835723877,"velocity_rad_s":-1.4204663038253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05795571208000183,"velocity_rad_s":-0.29452431201934814,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7941466569900513,"velocity_rad_s":1.2732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":3.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.03840944170951843,"velocity_rad_s":-2.233476161956787,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8151789903640747,"velocity_rad_s":-1.2762720584869385,"acceleration_raw":0.0,"estimated_torque_nm":6.087500095367432,"temperature_raw":[46,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.054612115025520325,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787723825696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809747,"imu":{"quaternion":[0.9905774593353271,-0.001923602307215333,0.016056044027209282,0.13599558174610138],"gyroscope":[-0.13422329723834991,-0.8724514842033386,1.5062837600708008],"accelerometer":[2.884713888168335,0.7487865686416626,13.1630220413208],"rpy":[0.00055643857922405,0.03233834728598595,0.27288150787353516],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32644814252853394,"velocity_rad_s":0.8453938364982605,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01714649610221386,"velocity_rad_s":0.29997849464416504,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.018922748044133186,"velocity_rad_s":-0.21769867837429047,"acceleration_raw":0.0,"estimated_torque_nm":6.040482997894287,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6300399899482727,"velocity_rad_s":0.1025380939245224,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093964755535126,"velocity_rad_s":-0.1962183117866516,"acceleration_raw":0.0,"estimated_torque_nm":8.953819274902344,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009842981584370136,"velocity_rad_s":0.03209980949759483,"acceleration_raw":0.0,"estimated_torque_nm":-1.2061500549316406,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3278287351131439,"velocity_rad_s":0.4472406208515167,"acceleration_raw":0.0,"estimated_torque_nm":-5.712890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011641209945082664,"velocity_rad_s":-0.3294309079647064,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.022083235904574394,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5946220755577087,"velocity_rad_s":0.34033921360969543,"acceleration_raw":0.0,"estimated_torque_nm":-5.185546875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2919524908065796,"velocity_rad_s":-0.5177565217018127,"acceleration_raw":0.0,"estimated_torque_nm":5.758135795593262,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.008467936888337135,"velocity_rad_s":0.3295551538467407,"acceleration_raw":0.0,"estimated_torque_nm":1.1614104509353638,"temperature_raw":[40,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04171575605869293,"velocity_rad_s":0.7199482917785645,"acceleration_raw":0.0,"estimated_torque_nm":-10.570845603942871,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.003865598002448678,"velocity_rad_s":-0.30334973335266113,"acceleration_raw":0.0,"estimated_torque_nm":2.4532172679901123,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02651132270693779,"velocity_rad_s":-0.1124669760465622,"acceleration_raw":0.0,"estimated_torque_nm":5.039662837982178,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2672722041606903,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":2.375,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21758559346199036,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9676782488822937,"velocity_rad_s":-0.5138835906982422,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05685316398739815,"velocity_rad_s":-0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":-0.28125,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.013913685455918312,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.05651760473847389,"velocity_rad_s":3.399301528930664,"acceleration_raw":0.0,"estimated_torque_nm":10.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17327991127967834,"velocity_rad_s":-1.366776943206787,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0577639639377594,"velocity_rad_s":-0.30372822284698486,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7941346764564514,"velocity_rad_s":0.7163690328598022,"acceleration_raw":0.0,"estimated_torque_nm":4.3125,"temperature_raw":[44,46],"voltage_raw":52.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":0.03486211225390434,"velocity_rad_s":-2.300971269607544,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8158740997314453,"velocity_rad_s":-1.0615147352218628,"acceleration_raw":0.0,"estimated_torque_nm":5.987500190734863,"temperature_raw":[46,40],"voltage_raw":52.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0547679103910923,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787725042176,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809776,"imu":{"quaternion":[0.9884200096130371,-0.00038395827868953347,0.008652416989207268,0.15149584412574768],"gyroscope":[0.16085490584373474,-0.45806366205215454,0.5123921632766724],"accelerometer":[-4.21349573135376,-0.8242039084434509,8.942343711853027],"rpy":[0.0018628631951287389,0.017221633344888687,0.30419036746025085],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30860283970832825,"velocity_rad_s":0.2912518382072449,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.020674651488661766,"velocity_rad_s":-0.22471114993095398,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.013699909672141075,"velocity_rad_s":0.4971071779727936,"acceleration_raw":0.0,"estimated_torque_nm":4.698153495788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315654516220093,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-6.416015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3150942623615265,"velocity_rad_s":-0.06485911458730698,"acceleration_raw":0.0,"estimated_torque_nm":7.813700199127197,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012841892428696156,"velocity_rad_s":0.03581034764647484,"acceleration_raw":0.0,"estimated_torque_nm":-0.425663560628891,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3035236597061157,"velocity_rad_s":0.7952157258987427,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0036815537605434656,"velocity_rad_s":-0.32615840435028076,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.020275330170989037,"velocity_rad_s":0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6070217490196228,"velocity_rad_s":0.3883357644081116,"acceleration_raw":0.0,"estimated_torque_nm":-11.6015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093728721141815,"velocity_rad_s":-0.5851085186004639,"acceleration_raw":0.0,"estimated_torque_nm":4.082222938537598,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.02978968806564808,"velocity_rad_s":0.8453521132469177,"acceleration_raw":0.0,"estimated_torque_nm":1.541780948638916,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0436575785279274,"velocity_rad_s":-0.20055703818798065,"acceleration_raw":0.0,"estimated_torque_nm":-7.047230243682861,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.012994902208447456,"velocity_rad_s":-0.3085624873638153,"acceleration_raw":0.0,"estimated_torque_nm":2.262317419052124,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03432486951351166,"velocity_rad_s":-0.20186175405979156,"acceleration_raw":0.0,"estimated_torque_nm":7.833744049072266,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28378644585609436,"velocity_rad_s":0.6013205051422119,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21713019907474518,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.003008040599524975,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.968025803565979,"velocity_rad_s":0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.017233315855264664,"velocity_rad_s":-1.2210487127304077,"acceleration_raw":0.0,"estimated_torque_nm":0.30000001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008233162574470043,"velocity_rad_s":0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1372433453798294,"velocity_rad_s":1.9098061323165894,"acceleration_raw":0.0,"estimated_torque_nm":6.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.19951337575912476,"velocity_rad_s":-0.5875146389007568,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05289836972951889,"velocity_rad_s":-0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868242859840393,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.02076866291463375,"velocity_rad_s":-1.2977478504180908,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8087434768676758,"velocity_rad_s":0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":5.456250190734863,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05548696219921112,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787727962464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809777,"imu":{"quaternion":[0.9884200096130371,-0.00038395827868953347,0.008652416989207268,0.15149584412574768],"gyroscope":[0.16085490584373474,-0.45806366205215454,0.5123921632766724],"accelerometer":[-4.21349573135376,-0.8242039084434509,8.942343711853027],"rpy":[0.0018628631951287389,0.017221633344888687,0.30419036746025085],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30841535329818726,"velocity_rad_s":0.2814343571662903,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.020862137898802757,"velocity_rad_s":-0.15162548422813416,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.013244585134088993,"velocity_rad_s":0.5176771283149719,"acceleration_raw":0.0,"estimated_torque_nm":4.530362129211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315739750862122,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3151436746120453,"velocity_rad_s":-0.06431196630001068,"acceleration_raw":0.0,"estimated_torque_nm":7.723184585571289,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012885111384093761,"velocity_rad_s":0.04788121581077576,"acceleration_raw":0.0,"estimated_torque_nm":-0.47715869545936584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30291858315467834,"velocity_rad_s":0.7886707186698914,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.003204315435141325,"velocity_rad_s":-0.33706673979759216,"acceleration_raw":0.0,"estimated_torque_nm":3.251953125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.020221762359142303,"velocity_rad_s":0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":2.572798252105713,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6072859168052673,"velocity_rad_s":0.3796091079711914,"acceleration_raw":0.0,"estimated_torque_nm":-11.513671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30973783135414124,"velocity_rad_s":-0.5703661441802979,"acceleration_raw":0.0,"estimated_torque_nm":3.991295099258423,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03017842024564743,"velocity_rad_s":0.7597425580024719,"acceleration_raw":0.0,"estimated_torque_nm":1.489166259765625,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04353705421090126,"velocity_rad_s":-0.19198623299598694,"acceleration_raw":0.0,"estimated_torque_nm":-7.047230243682861,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.013504361733794212,"velocity_rad_s":-0.33287185430526733,"acceleration_raw":0.0,"estimated_torque_nm":2.403968095779419,"temperature_raw":[41,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03461896628141403,"velocity_rad_s":-0.20037923753261566,"acceleration_raw":0.0,"estimated_torque_nm":7.909677028656006,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28420591354370117,"velocity_rad_s":0.6013205051422119,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21713019907474518,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.003008040599524975,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9681576490402222,"velocity_rad_s":0.20555342733860016,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.016334498301148415,"velocity_rad_s":-1.1842331886291504,"acceleration_raw":0.0,"estimated_torque_nm":0.2750000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007981494069099426,"velocity_rad_s":0.3190680146217346,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1384897083044052,"velocity_rad_s":1.8607187271118164,"acceleration_raw":0.0,"estimated_torque_nm":6.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20023243129253387,"velocity_rad_s":-0.5568350553512573,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.052862416952848434,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868242859840393,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.021559620276093483,"velocity_rad_s":-1.2547963857650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8084797859191895,"velocity_rad_s":0.3190680146217346,"acceleration_raw":0.0,"estimated_torque_nm":5.443749904632568,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05543902516365051,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.3375000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787730199744,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809778,"imu":{"quaternion":[0.9883866310119629,-0.0002729690168052912,0.008462037891149521,0.15172435343265533],"gyroscope":[0.1715075522661209,-0.46765103936195374,0.46658575534820557],"accelerometer":[-3.6541502475738525,-0.6212953329086304,9.828496932983398],"rpy":[0.0020284843631088734,0.016811152920126915,0.30465325713157654],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30818524956703186,"velocity_rad_s":0.3087051212787628,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.020955881103873253,"velocity_rad_s":-0.13744467496871948,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.012574990279972553,"velocity_rad_s":0.4748230576515198,"acceleration_raw":0.0,"estimated_torque_nm":4.3625712394714355,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315995454788208,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3152260482311249,"velocity_rad_s":-0.072750523686409,"acceleration_raw":0.0,"estimated_torque_nm":7.084577560424805,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012942629866302013,"velocity_rad_s":0.05154326930642128,"acceleration_raw":0.0,"estimated_torque_nm":-0.011370053514838219,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30231353640556335,"velocity_rad_s":0.760309100151062,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.002888997085392475,"velocity_rad_s":-0.38288164138793945,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.020101236179471016,"velocity_rad_s":0.13713301718235016,"acceleration_raw":0.0,"estimated_torque_nm":3.467684745788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.607686460018158,"velocity_rad_s":0.28361600637435913,"acceleration_raw":0.0,"estimated_torque_nm":-13.7109375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31012409925460815,"velocity_rad_s":-0.5501239895820618,"acceleration_raw":0.0,"estimated_torque_nm":3.9051268100738525,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.030618207529187202,"velocity_rad_s":0.7047165036201477,"acceleration_raw":0.0,"estimated_torque_nm":1.8494927883148193,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.043416526168584824,"velocity_rad_s":-0.18684373795986176,"acceleration_raw":0.0,"estimated_torque_nm":-7.047230243682861,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.013717254623770714,"velocity_rad_s":-0.32215583324432373,"acceleration_raw":0.0,"estimated_torque_nm":2.300779342651367,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03472888097167015,"velocity_rad_s":-0.18454544246196747,"acceleration_raw":0.0,"estimated_torque_nm":8.51840877532959,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28463733196258545,"velocity_rad_s":0.5859807133674622,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21714217960834503,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.003055977402254939,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9684212803840637,"velocity_rad_s":0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1456802487373352,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.015483618713915348,"velocity_rad_s":-1.104466199874878,"acceleration_raw":0.0,"estimated_torque_nm":0.2750000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007729825098067522,"velocity_rad_s":0.3190680146217346,"acceleration_raw":0.0,"estimated_torque_nm":-0.08124999701976776,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.13974805176258087,"velocity_rad_s":1.7794177532196045,"acceleration_raw":0.0,"estimated_torque_nm":6.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20057997107505798,"velocity_rad_s":-0.5414952635765076,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05276654288172722,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868362665176392,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.022398516535758972,"velocity_rad_s":-1.21337890625,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8082640767097473,"velocity_rad_s":0.3129321038722992,"acceleration_raw":0.0,"estimated_torque_nm":5.443749904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05542704090476036,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.3375000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787736223168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809779,"imu":{"quaternion":[0.9883562326431274,-0.00016018119640648365,0.008268501609563828,0.15193332731723785],"gyroscope":[0.17470334470272064,-0.475107878446579,0.427170991897583],"accelerometer":[-3.5930981636047363,-0.7739257216453552,8.878597259521484],"rpy":[0.002196185989305377,0.016393858939409256,0.30507656931877136],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30791255831718445,"velocity_rad_s":0.328340083360672,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.021015536040067673,"velocity_rad_s":-0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.012307152152061462,"velocity_rad_s":0.442253977060318,"acceleration_raw":0.0,"estimated_torque_nm":4.474431991577148,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315910220146179,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-6.240234375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31543996930122375,"velocity_rad_s":-0.10639748722314835,"acceleration_raw":0.0,"estimated_torque_nm":6.810532093048096,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01326042227447033,"velocity_rad_s":0.1330278217792511,"acceleration_raw":0.0,"estimated_torque_nm":0.2472718507051468,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3018277585506439,"velocity_rad_s":0.7199483513832092,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0025992451701313257,"velocity_rad_s":-0.38179078698158264,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.02000749297440052,"velocity_rad_s":0.15427464246749878,"acceleration_raw":0.0,"estimated_torque_nm":3.467684745788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6078143119812012,"velocity_rad_s":0.23889195919036865,"acceleration_raw":0.0,"estimated_torque_nm":-13.53515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3109152615070343,"velocity_rad_s":-0.5410932302474976,"acceleration_raw":0.0,"estimated_torque_nm":3.837843418121338,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.031505048274993896,"velocity_rad_s":0.6504909992218018,"acceleration_raw":0.0,"estimated_torque_nm":2.0035834312438965,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.043255824595689774,"velocity_rad_s":-0.2348402887582779,"acceleration_raw":0.0,"estimated_torque_nm":-6.879438877105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01393008790910244,"velocity_rad_s":-0.3347707986831665,"acceleration_raw":0.0,"estimated_torque_nm":2.201059579849243,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03477972745895386,"velocity_rad_s":-0.1550268530845642,"acceleration_raw":0.0,"estimated_torque_nm":8.67066764831543,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28498488664627075,"velocity_rad_s":0.5675728917121887,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21715416014194489,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.003079945920035243,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9685651063919067,"velocity_rad_s":0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14569222927093506,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.013853764161467552,"velocity_rad_s":-1.0676506757736206,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007514109369367361,"velocity_rad_s":0.29452431201934814,"acceleration_raw":0.0,"estimated_torque_nm":-0.08124999701976776,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14089854061603546,"velocity_rad_s":1.731864333152771,"acceleration_raw":0.0,"estimated_torque_nm":6.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20090354979038239,"velocity_rad_s":-0.5184855461120605,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05273059010505676,"velocity_rad_s":-0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868362665176392,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.02382463961839676,"velocity_rad_s":-1.115204095840454,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8079285025596619,"velocity_rad_s":0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":5.456250190734863,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05542704090476036,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.3375000059604645,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787739171648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809780,"imu":{"quaternion":[0.9883016347885132,6.261339149205014e-05,0.00788741186261177,0.15230754017829895],"gyroscope":[0.17257282137870789,-0.4655205011367798,0.3717772364616394],"accelerometer":[-4.314949989318848,-0.7981669902801514,7.239168167114258],"rpy":[0.0025266956072300673,0.015571841038763523,0.3058345317840576],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3076057434082031,"velocity_rad_s":0.38724493980407715,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.021100757643580437,"velocity_rad_s":-0.1276272088289261,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.012092881835997105,"velocity_rad_s":0.3839724659919739,"acceleration_raw":0.0,"estimated_torque_nm":4.530362129211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315910220146179,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-6.240234375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31557154655456543,"velocity_rad_s":-0.1274372786283493,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.013491694815456867,"velocity_rad_s":0.17745769023895264,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30135053396224976,"velocity_rad_s":0.6774059534072876,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0023009711876511574,"velocity_rad_s":-0.3883357644081116,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019953925162553787,"velocity_rad_s":0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":3.467684745788574,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6079251170158386,"velocity_rad_s":0.2007128894329071,"acceleration_raw":0.0,"estimated_torque_nm":-13.359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3113704323768616,"velocity_rad_s":-0.552701473236084,"acceleration_raw":0.0,"estimated_torque_nm":3.747551918029785,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03203972056508064,"velocity_rad_s":0.6506192088127136,"acceleration_raw":0.0,"estimated_torque_nm":2.0541980266571045,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.042961202561855316,"velocity_rad_s":-0.2296978086233139,"acceleration_raw":0.0,"estimated_torque_nm":-6.655717372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.014135314151644707,"velocity_rad_s":-0.3259834051132202,"acceleration_raw":0.0,"estimated_torque_nm":2.2022156715393066,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03482558950781822,"velocity_rad_s":-0.12282523512840271,"acceleration_raw":0.0,"estimated_torque_nm":8.518509864807129,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2852964699268341,"velocity_rad_s":0.552233099937439,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2171781361103058,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.003079945920035243,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9686968922615051,"velocity_rad_s":0.19788353145122528,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14569222927093506,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.013206616044044495,"velocity_rad_s":-0.9756118059158325,"acceleration_raw":0.0,"estimated_torque_nm":0.23749999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00711862975731492,"velocity_rad_s":0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-0.06875000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14220482110977173,"velocity_rad_s":1.7042527198791504,"acceleration_raw":0.0,"estimated_torque_nm":6.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20119117200374603,"velocity_rad_s":-0.49087387323379517,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05269463732838631,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868602871894836,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.02460361458361149,"velocity_rad_s":-1.0891263484954834,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8077607750892639,"velocity_rad_s":0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":5.46875,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055451009422540665,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787744018080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809781,"imu":{"quaternion":[0.9883016347885132,6.261339149205014e-05,0.00788741186261177,0.15230754017829895],"gyroscope":[0.17257282137870789,-0.4655205011367798,0.3717772364616394],"accelerometer":[-4.314949989318848,-0.7981669902801514,7.239168167114258],"rpy":[0.0025266956072300673,0.015571841038763523,0.3058345317840576],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30681321024894714,"velocity_rad_s":0.4963279962539673,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.021262677386403084,"velocity_rad_s":-0.14508049190044403,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.011878611519932747,"velocity_rad_s":0.3548316955566406,"acceleration_raw":0.0,"estimated_torque_nm":4.586292743682861,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316336393356323,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31574010848999023,"velocity_rad_s":-0.14952367544174194,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.013788011856377125,"velocity_rad_s":0.22745086252689362,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30058354139328003,"velocity_rad_s":0.5508695840835571,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0016703346045687795,"velocity_rad_s":-0.4166973829269409,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019900357350707054,"velocity_rad_s":0.12513387203216553,"acceleration_raw":0.0,"estimated_torque_nm":3.5236151218414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6080018281936646,"velocity_rad_s":0.17344209551811218,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3118210732936859,"velocity_rad_s":-0.5629420280456543,"acceleration_raw":0.0,"estimated_torque_nm":3.837843418121338,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03253806009888649,"velocity_rad_s":0.6702349185943604,"acceleration_raw":0.0,"estimated_torque_nm":2.0035834312438965,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.042773716151714325,"velocity_rad_s":-0.24512527883052826,"acceleration_raw":0.0,"estimated_torque_nm":-6.59978723526001,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.014530591666698456,"velocity_rad_s":-0.32399898767471313,"acceleration_raw":0.0,"estimated_torque_nm":2.299231767654419,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03493689373135567,"velocity_rad_s":-0.10650992393493652,"acceleration_raw":0.0,"estimated_torque_nm":8.219987869262695,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28578782081604004,"velocity_rad_s":0.45405831933021545,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21715416014194489,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.003091930178925395,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9688167572021484,"velocity_rad_s":0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.012463593855500221,"velocity_rad_s":-0.944932222366333,"acceleration_raw":0.0,"estimated_torque_nm":0.23749999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00695085059851408,"velocity_rad_s":0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.06875000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14472150802612305,"velocity_rad_s":1.699650764465332,"acceleration_raw":0.0,"estimated_torque_nm":6.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20180237293243408,"velocity_rad_s":-0.4617282450199127,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05265868455171585,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868602871894836,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.025262746959924698,"velocity_rad_s":-1.0492428541183472,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.807604968547821,"velocity_rad_s":0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":5.46875,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055451009422540665,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787744737344,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809782,"imu":{"quaternion":[0.9882760643959045,0.00016778930148575455,0.00770889688283205,0.15248346328735352],"gyroscope":[0.16618123650550842,-0.44847628474235535,0.36005935072898865],"accelerometer":[-4.401141166687012,-1.170764684677124,8.57692813873291],"rpy":[0.0026829144917428493,0.015186449512839317,0.3061908483505249],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.306378573179245,"velocity_rad_s":0.5465062260627747,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.021381987258791924,"velocity_rad_s":-0.16580629348754883,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.011342935264110565,"velocity_rad_s":0.31369179487228394,"acceleration_raw":0.0,"estimated_torque_nm":4.586292743682861,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317784786224365,"velocity_rad_s":0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3159087002277374,"velocity_rad_s":-0.17372120916843414,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.014084327965974808,"velocity_rad_s":0.27743127942085266,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30025115609169006,"velocity_rad_s":0.4963279962539673,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00138058268930763,"velocity_rad_s":-0.4046982526779175,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019927140325307846,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":3.7473366260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6081381440162659,"velocity_rad_s":0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":-13.095703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31223049759864807,"velocity_rad_s":-0.5617842078208923,"acceleration_raw":0.0,"estimated_torque_nm":3.837843418121338,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.033035945147275925,"velocity_rad_s":0.6609351634979248,"acceleration_raw":0.0,"estimated_torque_nm":2.0035834312438965,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04262640327215195,"velocity_rad_s":-0.25883856415748596,"acceleration_raw":0.0,"estimated_torque_nm":-6.59978723526001,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.014720665290951729,"velocity_rad_s":-0.31623387336730957,"acceleration_raw":0.0,"estimated_torque_nm":2.3965752124786377,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.035031888633966446,"velocity_rad_s":-0.11903910338878632,"acceleration_raw":0.0,"estimated_torque_nm":8.37214183807373,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28597956895828247,"velocity_rad_s":0.4141748249530792,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21715416014194489,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0031158984638750553,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9690324664115906,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01179247722029686,"velocity_rad_s":-0.9019807577133179,"acceleration_raw":0.0,"estimated_torque_nm":0.22499999403953552,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006759102921932936,"velocity_rad_s":0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.05624999850988388,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14594389498233795,"velocity_rad_s":1.6444274187088013,"acceleration_raw":0.0,"estimated_torque_nm":6.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20216189324855804,"velocity_rad_s":-0.4801360070705414,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05258677899837494,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868602871894836,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.02594584785401821,"velocity_rad_s":-1.0078253746032715,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8074132204055786,"velocity_rad_s":0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":5.456250190734863,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05543902516365051,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787746740640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809783,"imu":{"quaternion":[0.9882512092590332,0.00026518339291214943,0.007543114945292473,0.1526520848274231],"gyroscope":[0.15446332097053528,-0.4218446612358093,0.34514564275741577],"accelerometer":[-4.1973347663879395,-0.6724714040756226,9.148842811584473],"rpy":[0.002827394288033247,0.014828567393124104,0.3065322935581207],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30594393610954285,"velocity_rad_s":0.574867844581604,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.02149277552962303,"velocity_rad_s":-0.1690787822008133,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.011101881042122841,"velocity_rad_s":0.30512094497680664,"acceleration_raw":0.0,"estimated_torque_nm":4.698153495788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318807601928711,"velocity_rad_s":0.11890055239200592,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31631574034690857,"velocity_rad_s":-0.21370156109333038,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.014799823053181171,"velocity_rad_s":0.3588775098323822,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29993584752082825,"velocity_rad_s":0.45923978090286255,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0011249192757532,"velocity_rad_s":-0.37197330594062805,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019927140325307846,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":3.803267002105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6082063317298889,"velocity_rad_s":0.123263880610466,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3130868673324585,"velocity_rad_s":-0.5639153122901917,"acceleration_raw":0.0,"estimated_torque_nm":3.837843418121338,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.034068427979946136,"velocity_rad_s":0.662816047668457,"acceleration_raw":0.0,"estimated_torque_nm":2.0035834312438965,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04247909411787987,"velocity_rad_s":-0.25541025400161743,"acceleration_raw":0.0,"estimated_torque_nm":-6.59978723526001,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.014941193163394928,"velocity_rad_s":-0.3123762309551239,"acceleration_raw":0.0,"estimated_torque_nm":2.3466696739196777,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03517632186412811,"velocity_rad_s":-0.14545126259326935,"acceleration_raw":0.0,"estimated_torque_nm":8.448341369628906,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2861713171005249,"velocity_rad_s":0.3850291967391968,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21713019907474518,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0031158984638750553,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9691043496131897,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.010546118021011353,"velocity_rad_s":-0.8160778284072876,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006615292280912399,"velocity_rad_s":0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-0.06875000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14698652923107147,"velocity_rad_s":1.5938061475753784,"acceleration_raw":0.0,"estimated_torque_nm":6.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20250943303108215,"velocity_rad_s":-0.4663301706314087,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05253884196281433,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868842482566833,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.027156254276633263,"velocity_rad_s":-0.9326603412628174,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8070417046546936,"velocity_rad_s":0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":5.456250190734863,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05542704090476036,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787748632448,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809784,"imu":{"quaternion":[0.9882282018661499,0.00035736823338083923,0.007392116356641054,0.15280769765377045],"gyroscope":[0.14807173609733582,-0.3909519910812378,0.31851401925086975],"accelerometer":[-3.437774419784546,-0.29538464546203613,8.686463356018066],"rpy":[0.0029657837003469467,0.014501486904919147,0.30684739351272583],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30548375844955444,"velocity_rad_s":0.6010478138923645,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.02160356193780899,"velocity_rad_s":-0.18325957655906677,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.010793867520987988,"velocity_rad_s":0.3291192352771759,"acceleration_raw":0.0,"estimated_torque_nm":4.586292743682861,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.632034182548523,"velocity_rad_s":0.16580629348754883,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3165254592895508,"velocity_rad_s":-0.23581181466579437,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.015168425627052784,"velocity_rad_s":0.3940182030200958,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29961201548576355,"velocity_rad_s":0.42760568857192993,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[36,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0008607336785644293,"velocity_rad_s":-0.34252089262008667,"acceleration_raw":0.0,"estimated_torque_nm":2.900390625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01996731571853161,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":3.803267002105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6082574725151062,"velocity_rad_s":0.1025380939245224,"acceleration_raw":0.0,"estimated_torque_nm":-13.095703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3134959638118744,"velocity_rad_s":-0.5659028887748718,"acceleration_raw":0.0,"estimated_torque_nm":3.7464118003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03453729674220085,"velocity_rad_s":0.6516936421394348,"acceleration_raw":0.0,"estimated_torque_nm":1.9509631395339966,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04221125692129135,"velocity_rad_s":-0.18341541290283203,"acceleration_raw":0.0,"estimated_torque_nm":-6.59978723526001,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01519974134862423,"velocity_rad_s":-0.3279671370983124,"acceleration_raw":0.0,"estimated_torque_nm":2.3941078186035156,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0353456549346447,"velocity_rad_s":-0.16950257122516632,"acceleration_raw":0.0,"estimated_torque_nm":8.6766939163208,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28643497824668884,"velocity_rad_s":0.36968937516212463,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21715416014194489,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.003091930178925395,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9692002534866333,"velocity_rad_s":0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.00999484397470951,"velocity_rad_s":-0.7915341258049011,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006339655257761478,"velocity_rad_s":0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.05624999850988388,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1479812115430832,"velocity_rad_s":1.5309128761291504,"acceleration_raw":0.0,"estimated_torque_nm":6.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20280905067920685,"velocity_rad_s":-0.4632622301578522,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05253884196281433,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868722677230835,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.027719512581825256,"velocity_rad_s":-0.8897088766098022,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8068978786468506,"velocity_rad_s":0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":5.456250190734863,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05540307238698006,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.3375000059604645,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787751792672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809785,"imu":{"quaternion":[0.9882082939147949,0.0004502314841374755,0.007258472964167595,0.15294282138347626],"gyroscope":[0.15446332097053528,-0.3568635582923889,0.27696871757507324],"accelerometer":[-3.437774419784546,-0.29538464546203613,8.686463356018066],"rpy":[0.0031104267109185457,0.014208524487912655,0.3071211576461792],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3045037090778351,"velocity_rad_s":0.6152285933494568,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.02184218168258667,"velocity_rad_s":-0.18107791244983673,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[35,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.010432287119328976,"velocity_rad_s":0.3839724659919739,"acceleration_raw":0.0,"estimated_torque_nm":4.418501377105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.316726952791214,"velocity_rad_s":-0.24317991733551025,"acceleration_raw":0.0,"estimated_torque_nm":6.628251552581787,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.015508060343563557,"velocity_rad_s":0.40696945786476135,"acceleration_raw":0.0,"estimated_torque_nm":0.35084521770477295,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29892173409461975,"velocity_rad_s":0.4734205901622772,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0004090615548193455,"velocity_rad_s":-0.3021601438522339,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01996731571853161,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":3.803267002105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6083256602287292,"velocity_rad_s":0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-13.095703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31395500898361206,"velocity_rad_s":-0.5817527770996094,"acceleration_raw":0.0,"estimated_torque_nm":3.7464118003845215,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.035050250589847565,"velocity_rad_s":0.6537261009216309,"acceleration_raw":0.0,"estimated_torque_nm":1.9509631395339966,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04206394404172897,"velocity_rad_s":-0.20569951832294464,"acceleration_raw":0.0,"estimated_torque_nm":-6.655717372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01567123457789421,"velocity_rad_s":-0.3290109634399414,"acceleration_raw":0.0,"estimated_torque_nm":2.476227283477783,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03565472364425659,"velocity_rad_s":-0.19208437204360962,"acceleration_raw":0.0,"estimated_torque_nm":8.97938346862793,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2871180772781372,"velocity_rad_s":0.41724279522895813,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21713019907474518,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0031158984638750553,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9692361950874329,"velocity_rad_s":0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.009431585669517517,"velocity_rad_s":-0.748582661151886,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00618386035785079,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.04374999925494194,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1500784456729889,"velocity_rad_s":1.4572818279266357,"acceleration_raw":0.0,"estimated_torque_nm":6.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20327642560005188,"velocity_rad_s":-0.4141748249530792,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.052442967891693115,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868602871894836,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.02828277088701725,"velocity_rad_s":-0.8314176201820374,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8067900538444519,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":5.46875,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05537910386919975,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787752572288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809786,"imu":{"quaternion":[0.9881913661956787,0.0005463929264806211,0.007137814071029425,0.15305732190608978],"gyroscope":[0.16511596739292145,-0.33236247301101685,0.23542341589927673],"accelerometer":[-3.3749265670776367,-0.4291606545448303,8.357858657836914],"rpy":[0.0032651943620294333,0.013940244913101196,0.30735331773757935],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30406907200813293,"velocity_rad_s":0.6054111123085022,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.02191035822033882,"velocity_rad_s":-0.15162548422813416,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.009749299846589565,"velocity_rad_s":0.442253977060318,"acceleration_raw":0.0,"estimated_torque_nm":4.250710487365723,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6323409676551819,"velocity_rad_s":0.15162548422813416,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3169201612472534,"velocity_rad_s":-0.24896018207073212,"acceleration_raw":0.0,"estimated_torque_nm":6.628251552581787,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.015862245112657547,"velocity_rad_s":0.42271512746810913,"acceleration_raw":0.0,"estimated_torque_nm":0.35084521770477295,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29856377840042114,"velocity_rad_s":0.4865105450153351,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00020453077740967274,"velocity_rad_s":-0.3076142966747284,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.02002088353037834,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":3.7473366260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6084875464439392,"velocity_rad_s":0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":-13.359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31447696685791016,"velocity_rad_s":-0.6113830208778381,"acceleration_raw":0.0,"estimated_torque_nm":3.836703300476074,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03565821424126625,"velocity_rad_s":0.6614829301834106,"acceleration_raw":0.0,"estimated_torque_nm":1.9003486633300781,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04194341599941254,"velocity_rad_s":-0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":-6.655717372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01589180715382099,"velocity_rad_s":-0.31831294298171997,"acceleration_raw":0.0,"estimated_torque_nm":2.426206350326538,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03580935671925545,"velocity_rad_s":-0.19261084496974945,"acceleration_raw":0.0,"estimated_torque_nm":9.05557918548584,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2875494956970215,"velocity_rad_s":0.46479618549346924,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21709424257278442,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0031158984638750553,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.969308078289032,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.008892294950783253,"velocity_rad_s":-0.7117671370506287,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00606401776894927,"velocity_rad_s":0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-0.04374999925494194,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1510971188545227,"velocity_rad_s":1.4404079914093018,"acceleration_raw":0.0,"estimated_torque_nm":6.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20348015427589417,"velocity_rad_s":-0.374291330575943,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0523470975458622,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868722677230835,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.02864229865372181,"velocity_rad_s":-0.7608544826507568,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8066941499710083,"velocity_rad_s":0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":5.481249809265137,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05541505664587021,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.3375000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787755293984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809787,"imu":{"quaternion":[0.9881783127784729,0.0006424325401894748,0.007026846520602703,0.1531471163034439],"gyroscope":[0.16831175982952118,-0.31318771839141846,0.1853559911251068],"accelerometer":[-3.648763418197632,-0.5548562407493591,9.272743225097656],"rpy":[0.0034222849644720554,0.013691208325326443,0.3075355291366577],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30360889434814453,"velocity_rad_s":0.6021385788917542,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.021978534758090973,"velocity_rad_s":-0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.00933415163308382,"velocity_rad_s":0.4731088876724243,"acceleration_raw":0.0,"estimated_torque_nm":4.194779872894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6324262022972107,"velocity_rad_s":0.14071717858314514,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31712162494659424,"velocity_rad_s":-0.25369977951049805,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.016216380521655083,"velocity_rad_s":0.4291843771934509,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29806098341941833,"velocity_rad_s":0.5388703942298889,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":8.52211542223813e-06,"velocity_rad_s":-0.28579768538475037,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01999410055577755,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":3.69140625,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6085813045501709,"velocity_rad_s":0.1330813616514206,"acceleration_raw":0.0,"estimated_torque_nm":-13.447265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31540822982788086,"velocity_rad_s":-0.6284226179122925,"acceleration_raw":0.0,"estimated_torque_nm":3.9167468547821045,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.036643221974372864,"velocity_rad_s":0.6680620908737183,"acceleration_raw":0.0,"estimated_torque_nm":1.959352731704712,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04178271442651749,"velocity_rad_s":-0.2296978086233139,"acceleration_raw":0.0,"estimated_torque_nm":-6.543856620788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016081931069493294,"velocity_rad_s":-0.30273863673210144,"acceleration_raw":0.0,"estimated_torque_nm":2.476227283477783,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03592434152960777,"velocity_rad_s":-0.18364478647708893,"acceleration_raw":0.0,"estimated_torque_nm":8.97938346862793,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2880887985229492,"velocity_rad_s":0.5276893973350525,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21704630553722382,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.0,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.003103914437815547,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.969308078289032,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.007837682962417603,"velocity_rad_s":-0.6872234344482422,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00595615990459919,"velocity_rad_s":0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.04374999925494194,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.15209180116653442,"velocity_rad_s":1.418932318687439,"acceleration_raw":0.0,"estimated_torque_nm":6.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20365992188453674,"velocity_rad_s":-0.3497476279735565,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05228717625141144,"velocity_rad_s":-0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868602871894836,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.029289446771144867,"velocity_rad_s":-0.6381360292434692,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8065024018287659,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":5.481249809265137,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05540307238698006,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787757533504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809788,"imu":{"quaternion":[0.9881683588027954,0.0007355490233749151,0.006921409163624048,0.15321487188339233],"gyroscope":[0.16405069828033447,-0.3014698028564453,0.14061488211154938],"accelerometer":[-3.8750154972076416,-0.3007715940475464,9.731532096862793],"rpy":[0.0035749494563788176,0.013454047031700611,0.30767303705215454],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30319130420684814,"velocity_rad_s":0.5814128518104553,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.02202966809272766,"velocity_rad_s":-0.10581059008836746,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.009052921086549759,"velocity_rad_s":0.42168402671813965,"acceleration_raw":0.0,"estimated_torque_nm":4.138849258422852,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.632477343082428,"velocity_rad_s":0.11562806367874146,"acceleration_raw":0.0,"estimated_torque_nm":-6.767578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3174135684967041,"velocity_rad_s":-0.22737622261047363,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.016729502007365227,"velocity_rad_s":0.38849955797195435,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2976263463497162,"velocity_rad_s":0.5595961809158325,"acceleration_raw":0.0,"estimated_torque_nm":-11.513671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":-0.00012783173588104546,"velocity_rad_s":-0.246527761220932,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01996731571853161,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":3.69140625,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6086750626564026,"velocity_rad_s":0.13744467496871948,"acceleration_raw":0.0,"estimated_torque_nm":-13.447265625,"temperature_raw":[37,41],"voltage_raw":52.0,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31589436531066895,"velocity_rad_s":-0.6280544996261597,"acceleration_raw":0.0,"estimated_torque_nm":3.9167468547821045,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.037114229053258896,"velocity_rad_s":0.6401692628860474,"acceleration_raw":0.0,"estimated_torque_nm":1.959352731704712,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04151487722992897,"velocity_rad_s":-0.221126988530159,"acceleration_raw":0.0,"estimated_torque_nm":-6.487926006317139,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016203632578253746,"velocity_rad_s":-0.2735387682914734,"acceleration_raw":0.0,"estimated_torque_nm":2.477696418762207,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03601406514644623,"velocity_rad_s":-0.16825026273727417,"acceleration_raw":0.0,"estimated_torque_nm":8.827130317687988,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28858014941215515,"velocity_rad_s":0.5553010702133179,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2169983685016632,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0031278827227652073,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9693320989608765,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.007298393175005913,"velocity_rad_s":-0.6933593153953552,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0057404437102377415,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.04374999925494194,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.15315839648246765,"velocity_rad_s":1.4005244970321655,"acceleration_raw":0.0,"estimated_torque_nm":6.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20389960706233978,"velocity_rad_s":-0.3405437469482422,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05222725495696068,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868602871894836,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.029577067121863365,"velocity_rad_s":-0.5645049810409546,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.806406557559967,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":5.481249809265137,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05542704090476036,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787742177920,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":30720,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 2490632, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":2490632,"self_proximity2":0,"status":21248,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 2045016, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":2045016,"self_proximity2":0,"status":18432,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":18432,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 3927668, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":3927668,"self_proximity2":0,"status":31744,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0}],"touch_metric":0.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":787760696320,"stream":"brainco.motor","data":{"currents":[8,-100,18,2,-16,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [8, -100, 18, 2, -16, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":787761248384,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":0.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.054351932227366256}} +{"timestamp_monotonic_ns":787762770816,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809789,"imu":{"quaternion":[0.9881623387336731,0.0008252534316852689,0.006822205148637295,0.15325848758220673],"gyroscope":[0.15978965163230896,-0.2886866331100464,0.09161273390054703],"accelerometer":[-3.9701850414276123,-0.5629366636276245,9.346364974975586],"rpy":[0.0037224239204078913,0.013230323791503906,0.3077617585659027],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30237317085266113,"velocity_rad_s":0.5475971102714539,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.02208080142736435,"velocity_rad_s":-0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.008744907565414906,"velocity_rad_s":0.40282824635505676,"acceleration_raw":0.0,"estimated_torque_nm":4.194779872894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6324943900108337,"velocity_rad_s":0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-6.591796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3175492584705353,"velocity_rad_s":-0.21106116473674774,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01696801744401455,"velocity_rad_s":0.35982176661491394,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29672300815582275,"velocity_rad_s":0.5781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-11.6015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":-0.0003664509567897767,"velocity_rad_s":-0.18325957655906677,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019940532743930817,"velocity_rad_s":0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":3.6354758739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6087432503700256,"velocity_rad_s":0.1276272088289261,"acceleration_raw":0.0,"estimated_torque_nm":-13.447265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3163464665412903,"velocity_rad_s":-0.6276127099990845,"acceleration_raw":0.0,"estimated_torque_nm":3.9167468547821045,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.037512198090553284,"velocity_rad_s":0.6066977977752686,"acceleration_raw":0.0,"estimated_torque_nm":1.959352731704712,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.041421134024858475,"velocity_rad_s":-0.19541454315185547,"acceleration_raw":0.0,"estimated_torque_nm":-6.487926006317139,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016393784433603287,"velocity_rad_s":-0.21124327182769775,"acceleration_raw":0.0,"estimated_torque_nm":2.330571174621582,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03614873066544533,"velocity_rad_s":-0.1336454153060913,"acceleration_raw":0.0,"estimated_torque_nm":8.751209259033203,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28957483172416687,"velocity_rad_s":0.6043884754180908,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21685455739498138,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0031518512405455112,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9693560600280762,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.006747118663042784,"velocity_rad_s":-0.6810874938964844,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005668538622558117,"velocity_rad_s":0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.03125,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.15508785843849182,"velocity_rad_s":1.3744468688964844,"acceleration_raw":0.0,"estimated_torque_nm":6.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20440293848514557,"velocity_rad_s":-0.35895150899887085,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05217931792140007,"velocity_rad_s":-0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868722677230835,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.029804768040776253,"velocity_rad_s":-0.5046796798706055,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8063346147537231,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":5.5,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05540307238698006,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787763527712,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809790,"imu":{"quaternion":[0.9881587624549866,0.0009089062223210931,0.0067260777577757835,0.15328480303287506],"gyroscope":[0.1491370052099228,-0.28122976422309875,0.056459009647369385],"accelerometer":[-3.9701850414276123,-0.5629366636276245,9.346364974975586],"rpy":[0.0038586347363889217,0.013014588505029678,0.307815283536911],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30200672149658203,"velocity_rad_s":0.5279620885848999,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.022097844630479813,"velocity_rad_s":-0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.008262800052762032,"velocity_rad_s":0.34111839532852173,"acceleration_raw":0.0,"estimated_torque_nm":4.250710487365723,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6324602961540222,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-6.328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31766846776008606,"velocity_rad_s":-0.20264048874378204,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017177598550915718,"velocity_rad_s":0.3450203239917755,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29634803533554077,"velocity_rad_s":0.5541420578956604,"acceleration_raw":0.0,"estimated_torque_nm":-11.6015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":-0.0004942826926708221,"velocity_rad_s":-0.18544124066829681,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01984678953886032,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":3.6354758739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6089136600494385,"velocity_rad_s":0.12217305600643158,"acceleration_raw":0.0,"estimated_torque_nm":-13.359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.316775918006897,"velocity_rad_s":-0.6229708790779114,"acceleration_raw":0.0,"estimated_torque_nm":3.846468210220337,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03782987967133522,"velocity_rad_s":0.5662662982940674,"acceleration_raw":0.0,"estimated_torque_nm":1.9068667888641357,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04134078323841095,"velocity_rad_s":-0.1799870729446411,"acceleration_raw":0.0,"estimated_torque_nm":-6.543856620788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01648503728210926,"velocity_rad_s":-0.18982620537281036,"acceleration_raw":0.0,"estimated_torque_nm":2.2820191383361816,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03619880601763725,"velocity_rad_s":-0.11958537995815277,"acceleration_raw":0.0,"estimated_torque_nm":8.675150871276855,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2899942696094513,"velocity_rad_s":0.598252534866333,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21675868332386017,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0031997880432754755,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9694638848304749,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0062677497044205666,"velocity_rad_s":-0.699495255947113,"acceleration_raw":0.0,"estimated_torque_nm":0.18125000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005596633069217205,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.03125,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1560705602169037,"velocity_rad_s":1.3422333002090454,"acceleration_raw":0.0,"estimated_torque_nm":6.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20469056069850922,"velocity_rad_s":-0.38196122646331787,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0520474910736084,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868722677230835,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.029996516183018684,"velocity_rad_s":-0.43718454241752625,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8062986731529236,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":5.5,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05537910386919975,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787764272224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809791,"imu":{"quaternion":[0.9881579279899597,0.0009854910895228386,0.006629701238125563,0.1532943844795227],"gyroscope":[0.13635383546352386,-0.2790992558002472,0.02237055078148842],"accelerometer":[-3.660435199737549,-1.0262147188186646,9.820416450500488],"rpy":[0.003980569541454315,0.012800591997802258,0.3078348934650421],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30163174867630005,"velocity_rad_s":0.5170538425445557,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.022123411297798157,"velocity_rad_s":-0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.008021745830774307,"velocity_rad_s":0.34111839532852173,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6324347257614136,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3177836537361145,"velocity_rad_s":-0.19423171877861023,"acceleration_raw":0.0,"estimated_torque_nm":6.719391822814941,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017350953072309494,"velocity_rad_s":0.3227926194667816,"acceleration_raw":0.0,"estimated_torque_nm":0.2990585267543793,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29598158597946167,"velocity_rad_s":0.5301437973976135,"acceleration_raw":0.0,"estimated_torque_nm":-11.6015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":-0.000570981705095619,"velocity_rad_s":-0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019779829308390617,"velocity_rad_s":0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":3.579545497894287,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6089733242988586,"velocity_rad_s":0.11562806367874146,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3176017999649048,"velocity_rad_s":-0.5993810296058655,"acceleration_raw":0.0,"estimated_torque_nm":3.846468210220337,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03838462382555008,"velocity_rad_s":0.4544261693954468,"acceleration_raw":0.0,"estimated_torque_nm":1.9068667888641357,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.041260428726673126,"velocity_rad_s":-0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":-6.711647987365723,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01656109280884266,"velocity_rad_s":-0.16548509895801544,"acceleration_raw":0.0,"estimated_torque_nm":2.2334671020507812,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03624873235821724,"velocity_rad_s":-0.1010892316699028,"acceleration_raw":0.0,"estimated_torque_nm":8.599093437194824,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29037776589393616,"velocity_rad_s":0.5844467282295227,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2166747897863388,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0032237565610557795,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9695597887039185,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.00529702752828598,"velocity_rad_s":-0.6320000886917114,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0055247279815375805,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.01875000074505806,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.15698136389255524,"velocity_rad_s":1.323825478553772,"acceleration_raw":0.0,"estimated_torque_nm":6.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20500215888023376,"velocity_rad_s":-0.401902973651886,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05198756977915764,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868722677230835,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":5.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03033207356929779,"velocity_rad_s":-0.3666214346885681,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8063346147537231,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":5.525000095367432,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05535513535141945,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.3375000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787767482560,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809792,"imu":{"quaternion":[0.9881591200828552,0.0010558294598013163,0.006528462748974562,0.15329039096832275],"gyroscope":[0.12357065826654434,-0.28549084067344666,-0.0053263213485479355],"accelerometer":[-3.5500025749206543,-1.0782885551452637,10.817900657653809],"rpy":[0.004088490270078182,0.012578954920172691,0.30782684683799744],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3012482523918152,"velocity_rad_s":0.5006913542747498,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.02213193289935589,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.007847650907933712,"velocity_rad_s":0.26740938425064087,"acceleration_raw":0.0,"estimated_torque_nm":4.3625712394714355,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6323921084403992,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3180180490016937,"velocity_rad_s":-0.18267115950584412,"acceleration_raw":0.0,"estimated_torque_nm":6.810532093048096,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01773390732705593,"velocity_rad_s":0.29130125045776367,"acceleration_raw":0.0,"estimated_torque_nm":0.2472718507051468,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2955469489097595,"velocity_rad_s":0.5192354917526245,"acceleration_raw":0.0,"estimated_torque_nm":-11.6015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":-0.0006562029011547565,"velocity_rad_s":-0.13744467496871948,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019699478521943092,"velocity_rad_s":0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":3.5236151218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090244650840759,"velocity_rad_s":0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3179868161678314,"velocity_rad_s":-0.5798589587211609,"acceleration_raw":0.0,"estimated_torque_nm":3.846468210220337,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.038570862263441086,"velocity_rad_s":0.411426842212677,"acceleration_raw":0.0,"estimated_torque_nm":1.9068667888641357,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04111311957240105,"velocity_rad_s":-0.1217055544257164,"acceleration_raw":0.0,"estimated_torque_nm":-6.879438877105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016652358695864677,"velocity_rad_s":-0.15867409110069275,"acceleration_raw":0.0,"estimated_torque_nm":2.234936237335205,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0363086499273777,"velocity_rad_s":-0.0991344153881073,"acceleration_raw":0.0,"estimated_torque_nm":8.446839332580566,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2907732427120209,"velocity_rad_s":0.5537670850753784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2165789157152176,"velocity_rad_s":-0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0032716935966163874,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9697155952453613,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.004829642828553915,"velocity_rad_s":-0.6013205051422119,"acceleration_raw":0.0,"estimated_torque_nm":0.16875000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0054887752048671246,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1578921675682068,"velocity_rad_s":1.2854759693145752,"acceleration_raw":0.0,"estimated_torque_nm":6.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20530176162719727,"velocity_rad_s":-0.4187767803668976,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05192764848470688,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868722677230835,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.030487868934869766,"velocity_rad_s":-0.32520392537117004,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8062986731529236,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.537499904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0553431510925293,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787768180992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809793,"imu":{"quaternion":[0.9881623387336731,0.0011200450826436281,0.006424882914870977,0.1532733291387558],"gyroscope":[0.1118527501821518,-0.2876213788986206,-0.03195792809128761],"accelerometer":[-3.7870285511016846,-1.1483190059661865,10.66706657409668],"rpy":[0.004183430690318346,0.012354622595012188,0.3077922463417053],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30052387714385986,"velocity_rad_s":0.5017821788787842,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.02220011129975319,"velocity_rad_s":-0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.007566420827060938,"velocity_rad_s":0.2879793345928192,"acceleration_raw":0.0,"estimated_torque_nm":4.3625712394714355,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6323409676551819,"velocity_rad_s":-0.07417649775743484,"acceleration_raw":0.0,"estimated_torque_nm":-5.9765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31814146041870117,"velocity_rad_s":-0.182662233710289,"acceleration_raw":0.0,"estimated_torque_nm":6.810532093048096,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017921729013323784,"velocity_rad_s":0.2968709468841553,"acceleration_raw":0.0,"estimated_torque_nm":0.2472718507051468,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29479700326919556,"velocity_rad_s":0.5105088353157043,"acceleration_raw":0.0,"estimated_torque_nm":-11.6015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":-0.000818123109638691,"velocity_rad_s":-0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019619127735495567,"velocity_rad_s":0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090756058692932,"velocity_rad_s":0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-13.095703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31834712624549866,"velocity_rad_s":-0.5569562911987305,"acceleration_raw":0.0,"estimated_torque_nm":3.846468210220337,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.038756806403398514,"velocity_rad_s":0.3516532778739929,"acceleration_raw":0.0,"estimated_torque_nm":1.9068667888641357,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04103276878595352,"velocity_rad_s":-0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":-6.879438877105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016842493787407875,"velocity_rad_s":-0.161582350730896,"acceleration_raw":0.0,"estimated_torque_nm":2.234936237335205,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.036433469504117966,"velocity_rad_s":-0.09223578125238419,"acceleration_raw":0.0,"estimated_torque_nm":8.446839332580566,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29150429368019104,"velocity_rad_s":0.5445631742477417,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21638716757297516,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0032836776226758957,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9700031876564026,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.004446147475391626,"velocity_rad_s":-0.552233099937439,"acceleration_raw":0.0,"estimated_torque_nm":0.15625,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.005476790945976973,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.15937821567058563,"velocity_rad_s":1.1719614267349243,"acceleration_raw":0.0,"estimated_torque_nm":6.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20570921897888184,"velocity_rad_s":-0.36508744955062866,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.05186772719025612,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868722677230835,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03063168004155159,"velocity_rad_s":-0.2914563715457916,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8062986731529236,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.537499904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05535513535141945,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787770621920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809794,"imu":{"quaternion":[0.9881678819656372,0.0011803490342572331,0.006319039035588503,0.15324155986309052],"gyroscope":[0.10439590364694595,-0.2918824255466461,-0.06178532913327217],"accelerometer":[-4.314949989318848,-1.0522516965866089,9.809642791748047],"rpy":[0.0042697712779045105,0.012127082794904709,0.3077278435230255],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3001489043235779,"velocity_rad_s":0.4963279962539673,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.022225676104426384,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":-0.007111096754670143,"velocity_rad_s":0.3291192352771759,"acceleration_raw":0.0,"estimated_torque_nm":4.250710487365723,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6322472095489502,"velocity_rad_s":-0.07417649775743484,"acceleration_raw":0.0,"estimated_torque_nm":-5.888671875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31827718019485474,"velocity_rad_s":-0.18425004184246063,"acceleration_raw":0.0,"estimated_torque_nm":6.810532093048096,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01814572885632515,"velocity_rad_s":0.29407650232315063,"acceleration_raw":0.0,"estimated_torque_nm":0.2472718507051468,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29443907737731934,"velocity_rad_s":0.44396811723709106,"acceleration_raw":0.0,"estimated_torque_nm":-11.513671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":-0.0008607336785644293,"velocity_rad_s":-0.1025380939245224,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.019378073513507843,"velocity_rad_s":0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":3.3558239936828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091352701187134,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-13.0078125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3186818063259125,"velocity_rad_s":-0.5310413837432861,"acceleration_raw":0.0,"estimated_torque_nm":3.846468210220337,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.038869794458150864,"velocity_rad_s":0.3029986023902893,"acceleration_raw":0.0,"estimated_torque_nm":1.9068667888641357,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.04096581041812897,"velocity_rad_s":-0.1217055544257164,"acceleration_raw":0.0,"estimated_torque_nm":-6.879438877105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016910944133996964,"velocity_rad_s":-0.1479620486497879,"acceleration_raw":0.0,"estimated_torque_nm":2.234936237335205,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03647840768098831,"velocity_rad_s":-0.0895855650305748,"acceleration_raw":0.0,"estimated_torque_nm":8.446839332580566,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2919117510318756,"velocity_rad_s":0.5460971593856812,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2163272500038147,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0033076461404561996,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9709739089012146,"velocity_rad_s":0.38196122646331787,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.004110589157789946,"velocity_rad_s":-0.4970097839832306,"acceleration_raw":0.0,"estimated_torque_nm":0.14374999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0054887752048671246,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.160061314702034,"velocity_rad_s":1.1198060512542725,"acceleration_raw":0.0,"estimated_torque_nm":6.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20590096712112427,"velocity_rad_s":-0.3528155982494354,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.051723916083574295,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7868842482566833,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03076350688934326,"velocity_rad_s":-0.2761165499687195,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.8062986731529236,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.537499904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05537910386919975,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787772889440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809822,"imu":{"quaternion":[0.9890328049659729,0.001417082967236638,0.005049953702837229,0.14760281145572662],"gyroscope":[0.0031957929022610188,-0.012783171609044075,-0.6242448687553406],"accelerometer":[-4.182071685791016,-0.530614972114563,10.149918556213379],"rpy":[0.004294067621231079,0.009570955298841,0.2963128089904785],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2908172011375427,"velocity_rad_s":0.21271201968193054,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01979687437415123,"velocity_rad_s":0.20834869146347046,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0010579597437754273,"velocity_rad_s":0.3959715962409973,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.633005678653717,"velocity_rad_s":0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-5.009765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32697466015815735,"velocity_rad_s":-0.15771998465061188,"acceleration_raw":0.0,"estimated_torque_nm":6.904539585113525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026596128940582275,"velocity_rad_s":0.18921293318271637,"acceleration_raw":0.0,"estimated_torque_nm":0.2059796005487442,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2902291715145111,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0021646174136549234,"velocity_rad_s":0.23234695196151733,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011543814092874527,"velocity_rad_s":0.2656952142715454,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6101579070091248,"velocity_rad_s":0.11562806367874146,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.320780873298645,"velocity_rad_s":0.07089633494615555,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03795789182186127,"velocity_rad_s":-0.14681948721408844,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03473857790231705,"velocity_rad_s":-0.46110978722572327,"acceleration_raw":0.0,"estimated_torque_nm":-3.7473366260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016456471756100655,"velocity_rad_s":0.17692282795906067,"acceleration_raw":0.0,"estimated_torque_nm":1.3797475099563599,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03778475522994995,"velocity_rad_s":-0.10438240319490433,"acceleration_raw":0.0,"estimated_torque_nm":5.855485439300537,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3080904483795166,"velocity_rad_s":0.5276893973350525,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2109583169221878,"velocity_rad_s":-0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004781705792993307,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9843123555183411,"velocity_rad_s":0.5675728917121887,"acceleration_raw":0.0,"estimated_torque_nm":-1.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011109377257525921,"velocity_rad_s":0.748582661151886,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006543387193232775,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.08749999850988388,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1748857945203781,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":3.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20493024587631226,"velocity_rad_s":0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04551608860492706,"velocity_rad_s":-0.16720391809940338,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.747839629650116,"velocity_rad_s":-1.5140390396118164,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03145859017968178,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7551020383834839,"velocity_rad_s":2.4114179611206055,"acceleration_raw":0.0,"estimated_torque_nm":5.862500190734863,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055391088128089905,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787776613312,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809823,"imu":{"quaternion":[0.9891252517700195,0.0013770798686891794,0.00511065311729908,0.14698033034801483],"gyroscope":[-0.008522114716470242,-0.010652642697095871,-0.6317017674446106],"accelerometer":[-4.683058738708496,-0.13108254969120026,10.396821022033691],"rpy":[0.004226751625537872,0.009705496951937675,0.295054167509079],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2907063961029053,"velocity_rad_s":0.18762290477752686,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.019651997834444046,"velocity_rad_s":0.19853121042251587,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0013525814283639193,"velocity_rad_s":0.4199698567390442,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6330312490463257,"velocity_rad_s":0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-5.009765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32703647017478943,"velocity_rad_s":-0.1429508626461029,"acceleration_raw":0.0,"estimated_torque_nm":6.904539585113525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026631945744156837,"velocity_rad_s":0.16145919263362885,"acceleration_raw":0.0,"estimated_torque_nm":0.2059796005487442,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29030585289001465,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-7.294921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0023180153220891953,"velocity_rad_s":0.2105303555727005,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011383111588656902,"velocity_rad_s":0.25541025400161743,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6101664304733276,"velocity_rad_s":0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3207475543022156,"velocity_rad_s":0.055409401655197144,"acceleration_raw":0.0,"estimated_torque_nm":6.659714698791504,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03792843967676163,"velocity_rad_s":-0.1308320015668869,"acceleration_raw":0.0,"estimated_torque_nm":1.887637972831726,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.034015413373708725,"velocity_rad_s":-0.503963828086853,"acceleration_raw":0.0,"estimated_torque_nm":-3.579545497894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016403278335928917,"velocity_rad_s":0.15068496763706207,"acceleration_raw":0.0,"estimated_torque_nm":1.3311097621917725,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0377892330288887,"velocity_rad_s":-0.0812862366437912,"acceleration_raw":0.0,"estimated_torque_nm":5.779476165771484,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3088334798812866,"velocity_rad_s":0.5338253378868103,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21081450581550598,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004841627087444067,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9847198128700256,"velocity_rad_s":0.5645049810409546,"acceleration_raw":0.0,"estimated_torque_nm":-1.375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.011672635562717915,"velocity_rad_s":0.748582661151886,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006747118663042784,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1745622307062149,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":3.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20475049316883087,"velocity_rad_s":0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.045408230274915695,"velocity_rad_s":-0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7468329668045044,"velocity_rad_s":-1.4787575006484985,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031446605920791626,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7532564997673035,"velocity_rad_s":2.362330436706543,"acceleration_raw":0.0,"estimated_torque_nm":5.849999904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055391088128089905,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787777339168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809824,"imu":{"quaternion":[0.9891716837882996,0.0013568280264735222,0.005139112006872892,0.1466672569513321],"gyroscope":[-0.008522114716470242,-0.012783171609044075,-0.6338322758674622],"accelerometer":[-4.018667697906494,0.049380410462617874,9.814131736755371],"rpy":[0.004191962536424398,0.009769079275429249,0.29442116618156433],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.290467768907547,"velocity_rad_s":0.1690787822008133,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.019353725016117096,"velocity_rad_s":0.20616701245307922,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0016472031129524112,"velocity_rad_s":0.41311320662498474,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6330738663673401,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-5.09765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3270982801914215,"velocity_rad_s":-0.13029281795024872,"acceleration_raw":0.0,"estimated_torque_nm":6.904539585113525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02663872390985489,"velocity_rad_s":0.1188265010714531,"acceleration_raw":0.0,"estimated_torque_nm":0.2059796005487442,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29043370485305786,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.002650377806276083,"velocity_rad_s":0.22471114993095398,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011235800571739674,"velocity_rad_s":0.26740938425064087,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6101749539375305,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32073071599006653,"velocity_rad_s":0.047771621495485306,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0378991924226284,"velocity_rad_s":-0.11028498411178589,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03364044055342674,"velocity_rad_s":-0.503963828086853,"acceleration_raw":0.0,"estimated_torque_nm":-3.5236151218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01636516861617565,"velocity_rad_s":0.088516965508461,"acceleration_raw":0.0,"estimated_torque_nm":1.432228922843933,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03769536688923836,"velocity_rad_s":-0.004926296882331371,"acceleration_raw":0.0,"estimated_torque_nm":5.475091934204102,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30920499563217163,"velocity_rad_s":0.5184855461120605,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21045498549938202,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9851751923561096,"velocity_rad_s":0.575242817401886,"acceleration_raw":0.0,"estimated_torque_nm":-1.375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.012283830903470516,"velocity_rad_s":0.7669904232025146,"acceleration_raw":0.0,"estimated_torque_nm":-0.5062500238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068549769930541515,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17427460849285126,"velocity_rad_s":-0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":3.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20442691445350647,"velocity_rad_s":0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04527640342712402,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7456824779510498,"velocity_rad_s":-1.4588158130645752,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031446605920791626,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7515187859535217,"velocity_rad_s":2.362330436706543,"acceleration_raw":0.0,"estimated_torque_nm":5.818749904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055391088128089905,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787779534912,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809825,"imu":{"quaternion":[0.9891716837882996,0.0013568280264735222,0.005139112006872892,0.1466672569513321],"gyroscope":[-0.008522114716470242,-0.012783171609044075,-0.6338322758674622],"accelerometer":[-4.018667697906494,0.049380410462617874,9.814131736755371],"rpy":[0.004191962536424398,0.009769079275429249,0.29442116618156433],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2904081344604492,"velocity_rad_s":0.1330813616514206,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01920032687485218,"velocity_rad_s":0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0022900141775608063,"velocity_rad_s":0.4388256371021271,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6331420540809631,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-5.09765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3271559774875641,"velocity_rad_s":-0.12396421283483505,"acceleration_raw":0.0,"estimated_torque_nm":6.904539585113525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026652788743376732,"velocity_rad_s":0.09100772440433502,"acceleration_raw":0.0,"estimated_torque_nm":0.2059796005487442,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2905444800853729,"velocity_rad_s":-0.12435471266508102,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0028037759475409985,"velocity_rad_s":0.18325957655906677,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01099474634975195,"velocity_rad_s":0.22284114360809326,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.610140860080719,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32071828842163086,"velocity_rad_s":0.04273463040590286,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03789178654551506,"velocity_rad_s":-0.0869779959321022,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03325207531452179,"velocity_rad_s":-0.5313904285430908,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01635751686990261,"velocity_rad_s":0.060326140373945236,"acceleration_raw":0.0,"estimated_torque_nm":1.4834290742874146,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03765099123120308,"velocity_rad_s":0.011851494200527668,"acceleration_raw":0.0,"estimated_torque_nm":5.246832847595215,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30952855944633484,"velocity_rad_s":0.5092816352844238,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,42],"voltage_raw":52.0,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21027521789073944,"velocity_rad_s":-0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005081311333924532,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9860620498657227,"velocity_rad_s":0.5905826091766357,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01290701050311327,"velocity_rad_s":0.803805947303772,"acceleration_raw":0.0,"estimated_torque_nm":-0.518750011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006974819116294384,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17399896681308746,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":3.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.2042711228132248,"velocity_rad_s":0.2377670258283615,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04508465528488159,"velocity_rad_s":-0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.74342942237854,"velocity_rad_s":-1.4557478427886963,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031446605920791626,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7495773434638977,"velocity_rad_s":2.393010139465332,"acceleration_raw":0.0,"estimated_torque_nm":5.806250095367432,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055391088128089905,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787783085760,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809826,"imu":{"quaternion":[0.9892176389694214,0.0013384884223341942,0.005162106826901436,0.1463557332754135],"gyroscope":[-0.0074568502604961395,-0.02237055078148842,-0.63063645362854],"accelerometer":[-3.1262288093566895,-0.06733692437410355,9.604938507080078],"rpy":[0.004159333184361458,0.009821262210607529,0.2937912940979004],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2903314232826233,"velocity_rad_s":0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01906397193670273,"velocity_rad_s":0.18107791244983673,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.002651595277711749,"velocity_rad_s":0.4628239572048187,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6331931948661804,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-5.09765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32724663615226746,"velocity_rad_s":-0.0970630869269371,"acceleration_raw":0.0,"estimated_torque_nm":6.99580717086792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0266230721026659,"velocity_rad_s":0.043840192258358,"acceleration_raw":0.0,"estimated_torque_nm":0.15436868369579315,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2906382381916046,"velocity_rad_s":-0.13526302576065063,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.002948652021586895,"velocity_rad_s":0.19307705760002136,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010874219238758087,"velocity_rad_s":0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6101323366165161,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32069721817970276,"velocity_rad_s":0.03237910196185112,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03785521164536476,"velocity_rad_s":-0.059889983385801315,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03287710249423981,"velocity_rad_s":-0.5348187685012817,"acceleration_raw":0.0,"estimated_torque_nm":-3.2439630031585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016319479793310165,"velocity_rad_s":0.055482205003499985,"acceleration_raw":0.0,"estimated_torque_nm":1.5333479642868042,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03761620819568634,"velocity_rad_s":0.028825899586081505,"acceleration_raw":0.0,"estimated_torque_nm":5.170707702636719,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30982816219329834,"velocity_rad_s":0.4924078583717346,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21017934381961823,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9865174293518066,"velocity_rad_s":0.5844467282295227,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.014261228032410145,"velocity_rad_s":0.8835729956626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.574999988079071,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0070946612395346165,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17373532056808472,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":3.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20413929224014282,"velocity_rad_s":0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04501274973154068,"velocity_rad_s":-0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7424107789993286,"velocity_rad_s":-1.448077917098999,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031434621661901474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7459341287612915,"velocity_rad_s":2.4359614849090576,"acceleration_raw":0.0,"estimated_torque_nm":5.75,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05537910386919975,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787783826496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809827,"imu":{"quaternion":[0.98930823802948,0.0013065434759482741,0.005191195290535688,0.14574146270751953],"gyroscope":[-0.008522114716470242,-0.04048004373908043,-0.6167880296707153],"accelerometer":[-2.547131299972534,-0.3968389332294464,10.201992988586426],"rpy":[0.00409850524738431,0.00989071000367403,0.2925492823123932],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29024621844291687,"velocity_rad_s":0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01889353059232235,"velocity_rad_s":0.2105303555727005,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0029730007518082857,"velocity_rad_s":0.47653722763061523,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6332272887229919,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-5.009765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32729610800743103,"velocity_rad_s":-0.09759210050106049,"acceleration_raw":0.0,"estimated_torque_nm":6.99580717086792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0266081802546978,"velocity_rad_s":0.0206131711602211,"acceleration_raw":0.0,"estimated_torque_nm":0.15436868369579315,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2908768355846405,"velocity_rad_s":-0.16580629348754883,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.003085005795583129,"velocity_rad_s":0.17671458423137665,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010780476033687592,"velocity_rad_s":0.19541454315185547,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.610140860080719,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3206765353679657,"velocity_rad_s":0.0327308289706707,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03784770891070366,"velocity_rad_s":-0.045944590121507645,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03208698332309723,"velocity_rad_s":-0.5553886890411377,"acceleration_raw":0.0,"estimated_torque_nm":-3.0202414989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01624344475567341,"velocity_rad_s":0.06813362240791321,"acceleration_raw":0.0,"estimated_torque_nm":1.5832669734954834,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0375860296189785,"velocity_rad_s":0.03334378823637962,"acceleration_raw":0.0,"estimated_torque_nm":5.094583034515381,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3103315234184265,"velocity_rad_s":0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2100355327129364,"velocity_rad_s":-0.22396120429039001,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9869489073753357,"velocity_rad_s":0.5767768025398254,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.014872423373162746,"velocity_rad_s":0.8713011145591736,"acceleration_raw":0.0,"estimated_torque_nm":-0.5874999761581421,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17327991127967834,"velocity_rad_s":-0.29759228229522705,"acceleration_raw":0.0,"estimated_torque_nm":4.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20393556356430054,"velocity_rad_s":0.2346990704536438,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04495282843708992,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.741487979888916,"velocity_rad_s":-1.4005244970321655,"acceleration_raw":0.0,"estimated_torque_nm":4.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03142263740301132,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7439447641372681,"velocity_rad_s":2.4666411876678467,"acceleration_raw":0.0,"estimated_torque_nm":5.71875,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05540307238698006,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787785980416,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809828,"imu":{"quaternion":[0.98930823802948,0.0013065434759482741,0.005191195290535688,0.14574146270751953],"gyroscope":[-0.008522114716470242,-0.04048004373908043,-0.6167880296707153],"accelerometer":[-2.547131299972534,-0.3968389332294464,10.201992988586426],"rpy":[0.00409850524738431,0.00989071000367403,0.2925492823123932],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2902206480503082,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01858673430979252,"velocity_rad_s":0.1941678822040558,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0033077981788665056,"velocity_rad_s":0.47653722763061523,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6332698464393616,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-5.09765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3273373246192932,"velocity_rad_s":-0.09390074014663696,"acceleration_raw":0.0,"estimated_torque_nm":6.99580717086792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02657882496714592,"velocity_rad_s":-0.0007234980002976954,"acceleration_raw":0.0,"estimated_torque_nm":0.15436868369579315,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2910046875476837,"velocity_rad_s":-0.16689711809158325,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0033577135764062405,"velocity_rad_s":0.1745329350233078,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010686732828617096,"velocity_rad_s":0.18341541290283203,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6101493835449219,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32064303755760193,"velocity_rad_s":0.03558893874287605,"acceleration_raw":0.0,"estimated_torque_nm":6.477825164794922,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03780372813344002,"velocity_rad_s":-0.06364674866199493,"acceleration_raw":0.0,"estimated_torque_nm":1.8853505849838257,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.031658440828323364,"velocity_rad_s":-0.5673878788948059,"acceleration_raw":0.0,"estimated_torque_nm":-2.964311122894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016098961234092712,"velocity_rad_s":0.08566008508205414,"acceleration_raw":0.0,"estimated_torque_nm":1.485991358757019,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037510961294174194,"velocity_rad_s":0.047355618327856064,"acceleration_raw":0.0,"estimated_torque_nm":4.942564487457275,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3105831742286682,"velocity_rad_s":0.40957289934158325,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20980782806873322,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9873443841934204,"velocity_rad_s":0.5813787579536438,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0154956029728055,"velocity_rad_s":0.8344855904579163,"acceleration_raw":0.0,"estimated_torque_nm":-0.5874999761581421,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1730162650346756,"velocity_rad_s":-0.31139811873435974,"acceleration_raw":0.0,"estimated_torque_nm":4.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20356404781341553,"velocity_rad_s":0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.044856954365968704,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7405651807785034,"velocity_rad_s":-1.340699315071106,"acceleration_raw":0.0,"estimated_torque_nm":4.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031434621661901474,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7420991659164429,"velocity_rad_s":2.4789130687713623,"acceleration_raw":0.0,"estimated_torque_nm":5.693749904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05540307238698006,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787788504096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809829,"imu":{"quaternion":[0.9893524646759033,0.0012914580292999744,0.005198233295232058,0.14544089138507843],"gyroscope":[-0.0074568502604961395,-0.04687162861227989,-0.6082659363746643],"accelerometer":[-2.547131299972534,-0.3968389332294464,10.201992988586426],"rpy":[0.004067696630954742,0.009910269640386105,0.2919415533542633],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2901780307292938,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018424812704324722,"velocity_rad_s":0.19744037091732025,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003990784753113985,"velocity_rad_s":0.4645381271839142,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.633380651473999,"velocity_rad_s":0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-5.185546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3273867666721344,"velocity_rad_s":-0.0949561595916748,"acceleration_raw":0.0,"estimated_torque_nm":6.99580717086792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02656393311917782,"velocity_rad_s":-0.006305134389549494,"acceleration_raw":0.0,"estimated_torque_nm":0.15436868369579315,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29112398624420166,"velocity_rad_s":-0.17671458423137665,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0035025894176214933,"velocity_rad_s":0.18871372938156128,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010472462512552738,"velocity_rad_s":0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6101920008659363,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32062217593193054,"velocity_rad_s":0.04036860913038254,"acceleration_raw":0.0,"estimated_torque_nm":6.477825164794922,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03778170049190521,"velocity_rad_s":-0.06649161130189896,"acceleration_raw":0.0,"estimated_torque_nm":1.8853505849838257,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.03128346800804138,"velocity_rad_s":-0.5571028590202332,"acceleration_raw":0.0,"estimated_torque_nm":-2.852450370788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01605331525206566,"velocity_rad_s":0.08566601574420929,"acceleration_raw":0.0,"estimated_torque_nm":1.485991358757019,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037471190094947815,"velocity_rad_s":0.052397213876247406,"acceleration_raw":0.0,"estimated_torque_nm":4.942564487457275,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31087079644203186,"velocity_rad_s":0.40343695878982544,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20964005589485168,"velocity_rad_s":-0.2070874124765396,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9882671236991882,"velocity_rad_s":0.5844467282295227,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.016106799244880676,"velocity_rad_s":0.7915341258049011,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007514109369367361,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1726926863193512,"velocity_rad_s":-0.33594179153442383,"acceleration_raw":0.0,"estimated_torque_nm":4.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20333634316921234,"velocity_rad_s":0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04470115900039673,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7388394474983215,"velocity_rad_s":-1.2839419841766357,"acceleration_raw":0.0,"estimated_torque_nm":4.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031434621661901474,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7401098012924194,"velocity_rad_s":2.491184949874878,"acceleration_raw":0.0,"estimated_torque_nm":5.650000095367432,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05541505664587021,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787791805088,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809830,"imu":{"quaternion":[0.9893965125083923,0.0012747253058478236,0.0052061970345675945,0.14514142274856567],"gyroscope":[-0.010652642697095871,-0.042610570788383484,-0.606135368347168],"accelerometer":[-2.311901092529297,-0.3842693865299225,9.077016830444336],"rpy":[0.00403389660641551,0.009932118467986584,0.2913360893726349],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2901524603366852,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018262892961502075,"velocity_rad_s":0.21162118017673492,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004312190227210522,"velocity_rad_s":0.46625223755836487,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6334317922592163,"velocity_rad_s":0.0818123072385788,"acceleration_raw":0.0,"estimated_torque_nm":-5.2734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32751041650772095,"velocity_rad_s":-0.09179215133190155,"acceleration_raw":0.0,"estimated_torque_nm":6.99580717086792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026533961296081543,"velocity_rad_s":-0.0248591136187315,"acceleration_raw":0.0,"estimated_torque_nm":0.15436868369579315,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29126885533332825,"velocity_rad_s":-0.21271201968193054,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0036048549227416515,"velocity_rad_s":0.1690787822008133,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010378719307482243,"velocity_rad_s":0.15941712260246277,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6102260947227478,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32054656744003296,"velocity_rad_s":0.04582750424742699,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03766458481550217,"velocity_rad_s":-0.08143378794193268,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.030841534957289696,"velocity_rad_s":-0.5725303292274475,"acceleration_raw":0.0,"estimated_torque_nm":-2.852450370788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016015274450182915,"velocity_rad_s":0.07690870761871338,"acceleration_raw":0.0,"estimated_torque_nm":1.4373536109924316,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037436407059431076,"velocity_rad_s":0.05043288692831993,"acceleration_raw":0.0,"estimated_torque_nm":4.866555213928223,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31114643812179565,"velocity_rad_s":0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20949624478816986,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9887824654579163,"velocity_rad_s":0.6089903712272644,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.017317205667495728,"velocity_rad_s":0.803805947303772,"acceleration_raw":0.0,"estimated_torque_nm":-0.574999988079071,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":0.08749999850988388,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17233316600322723,"velocity_rad_s":-0.3712233603000641,"acceleration_raw":0.0,"estimated_torque_nm":4.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.2030966579914093,"velocity_rad_s":0.2730485796928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04465322196483612,"velocity_rad_s":-0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7379406690597534,"velocity_rad_s":-1.274738073348999,"acceleration_raw":0.0,"estimated_torque_nm":4.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031434621661901474,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7364785671234131,"velocity_rad_s":2.423689842224121,"acceleration_raw":0.0,"estimated_torque_nm":5.668749809265137,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05541505664587021,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787792566144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809831,"imu":{"quaternion":[0.989439845085144,0.001257220166735351,0.005216442514210939,0.14484509825706482],"gyroscope":[-0.011717907153069973,-0.03621898591518402,-0.5997437834739685],"accelerometer":[-2.241870641708374,-0.38965633511543274,8.588600158691406],"rpy":[0.003999248147010803,0.009958673268556595,0.29073697328567505],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29016098380088806,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018083928152918816,"velocity_rad_s":0.21925699710845947,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004673771560192108,"velocity_rad_s":0.4902505576610565,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6334999799728394,"velocity_rad_s":0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-5.2734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3275763690471649,"velocity_rad_s":-0.09390204399824142,"acceleration_raw":0.0,"estimated_torque_nm":6.99580717086792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026533452793955803,"velocity_rad_s":-0.021159697324037552,"acceleration_raw":0.0,"estimated_torque_nm":0.15436868369579315,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2914392948150635,"velocity_rad_s":-0.24325527250766754,"acceleration_raw":0.0,"estimated_torque_nm":-6.85546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.003724164329469204,"velocity_rad_s":0.17780542373657227,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010271583683788776,"velocity_rad_s":0.15256047248840332,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6102516651153564,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32050448656082153,"velocity_rad_s":0.04491351544857025,"acceleration_raw":0.0,"estimated_torque_nm":6.477825164794922,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03759144991636276,"velocity_rad_s":-0.0925828292965889,"acceleration_raw":0.0,"estimated_torque_nm":1.8853505849838257,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.02993088588118553,"velocity_rad_s":-0.5793869495391846,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015984851866960526,"velocity_rad_s":0.06619841605424881,"acceleration_raw":0.0,"estimated_torque_nm":1.485991358757019,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037416454404592514,"velocity_rad_s":0.04215018451213837,"acceleration_raw":0.0,"estimated_torque_nm":4.942564487457275,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3116377890110016,"velocity_rad_s":0.3681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20932845771312714,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9893097877502441,"velocity_rad_s":0.6427379846572876,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01792840100824833,"velocity_rad_s":0.8283496499061584,"acceleration_raw":0.0,"estimated_torque_nm":-0.5874999761581421,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007753793615847826,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":0.08749999850988388,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17194966971874237,"velocity_rad_s":-0.42031076550483704,"acceleration_raw":0.0,"estimated_torque_nm":4.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20285698771476746,"velocity_rad_s":0.2914563715457916,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04458131641149521,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7369579672813416,"velocity_rad_s":-1.2624661922454834,"acceleration_raw":0.0,"estimated_torque_nm":4.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031434621661901474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7344892024993896,"velocity_rad_s":2.460505247116089,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055451009422540665,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787796057472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809832,"imu":{"quaternion":[0.9894830584526062,0.0012361633125692606,0.005229353904724121,0.14454884827136993],"gyroscope":[-0.01810949295759201,-0.027696872130036354,-0.5997437834739685],"accelerometer":[-2.1000142097473145,-0.4031237065792084,9.344569206237793],"rpy":[0.003958327695727348,0.009991508908569813,0.29013800621032715],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2901865541934967,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0177004337310791,"velocity_rad_s":0.24761860072612762,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005035352893173695,"velocity_rad_s":0.5005354881286621,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6335681676864624,"velocity_rad_s":0.10581059008836746,"acceleration_raw":0.0,"estimated_torque_nm":-5.2734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.327638179063797,"velocity_rad_s":-0.09390180557966232,"acceleration_raw":0.0,"estimated_torque_nm":7.08627986907959,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026525704190135002,"velocity_rad_s":-0.017444027587771416,"acceleration_raw":0.0,"estimated_torque_nm":0.2059679925441742,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29177168011665344,"velocity_rad_s":-0.23889195919036865,"acceleration_raw":0.0,"estimated_torque_nm":-6.767578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.003954261541366577,"velocity_rad_s":0.16580629348754883,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010218016803264618,"velocity_rad_s":0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.610285758972168,"velocity_rad_s":0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32044994831085205,"velocity_rad_s":0.050302233546972275,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.037510912865400314,"velocity_rad_s":-0.10194443166255951,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.02958269789814949,"velocity_rad_s":-0.5605311989784241,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01595444045960903,"velocity_rad_s":0.05159253627061844,"acceleration_raw":0.0,"estimated_torque_nm":1.534629225730896,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037406351417303085,"velocity_rad_s":0.030053526163101196,"acceleration_raw":0.0,"estimated_torque_nm":5.018573760986328,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3118534982204437,"velocity_rad_s":0.35895150899887085,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20898091793060303,"velocity_rad_s":-0.22549518942832947,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.989920973777771,"velocity_rad_s":0.6872234344482422,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018575549125671387,"velocity_rad_s":0.7976700663566589,"acceleration_raw":0.0,"estimated_torque_nm":-0.6000000238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007849667221307755,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.08749999850988388,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1711706817150116,"velocity_rad_s":-0.46786415576934814,"acceleration_raw":0.0,"estimated_torque_nm":4.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20235364139080048,"velocity_rad_s":0.31753402948379517,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0445094108581543,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7360950708389282,"velocity_rad_s":-1.2440584897994995,"acceleration_raw":0.0,"estimated_torque_nm":4.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03142263740301132,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7324638366699219,"velocity_rad_s":2.5095927715301514,"acceleration_raw":0.0,"estimated_torque_nm":5.568749904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05541505664587021,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787796751328,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809833,"imu":{"quaternion":[0.9895263910293579,0.0012154915602877736,0.005247725639492273,0.14425209164619446],"gyroscope":[-0.015978964045643806,-0.014913700520992279,-0.6008090972900391],"accelerometer":[-1.9536685943603516,-0.3348889648914337,9.011475563049316],"rpy":[0.003919720184057951,0.010035020299255848,0.2895381450653076],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2902206480503082,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017529990524053574,"velocity_rad_s":0.2508910894393921,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00575851509347558,"velocity_rad_s":0.49882131814956665,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6337044835090637,"velocity_rad_s":0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-5.2734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32770824432373047,"velocity_rad_s":-0.10075955092906952,"acceleration_raw":0.0,"estimated_torque_nm":7.08627986907959,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02654694765806198,"velocity_rad_s":-0.014710105024278164,"acceleration_raw":0.0,"estimated_torque_nm":0.2059679925441742,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29195064306259155,"velocity_rad_s":-0.2356194704771042,"acceleration_raw":0.0,"estimated_torque_nm":-6.767578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.004056526813656092,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010057313367724419,"velocity_rad_s":0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.610302746295929,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.32039135694503784,"velocity_rad_s":0.06921037286520004,"acceleration_raw":0.0,"estimated_torque_nm":6.659714698791504,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.037437569350004196,"velocity_rad_s":-0.09658211469650269,"acceleration_raw":0.0,"estimated_torque_nm":1.887637972831726,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.029154157266020775,"velocity_rad_s":-0.5913861393928528,"acceleration_raw":0.0,"estimated_torque_nm":-2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015962034463882446,"velocity_rad_s":0.03602053225040436,"acceleration_raw":0.0,"estimated_torque_nm":1.534629225730896,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03740149363875389,"velocity_rad_s":0.02362046390771866,"acceleration_raw":0.0,"estimated_torque_nm":5.018573760986328,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31206923723220825,"velocity_rad_s":0.34514570236206055,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20887306332588196,"velocity_rad_s":-0.22549518942832947,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909635782241821,"velocity_rad_s":0.6964272856712341,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019174760207533836,"velocity_rad_s":0.7976700663566589,"acceleration_raw":0.0,"estimated_torque_nm":-0.5874999761581421,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007921572774648666,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":0.10625000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17081116139888763,"velocity_rad_s":-0.4693981409072876,"acceleration_raw":0.0,"estimated_torque_nm":4.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20211395621299744,"velocity_rad_s":0.3129321038722992,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04434163495898247,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7344173192977905,"velocity_rad_s":-1.1888351440429688,"acceleration_raw":0.0,"estimated_torque_nm":4.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03142263740301132,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7304624915122986,"velocity_rad_s":2.6016314029693604,"acceleration_raw":0.0,"estimated_torque_nm":5.525000095367432,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05542704090476036,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787798861792,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809834,"imu":{"quaternion":[0.9895698428153992,0.0011982268188148737,0.005276395007967949,0.1439526379108429],"gyroscope":[-0.0063915858045220375,0.0063915858045220375,-0.606135368347168],"accelerometer":[-1.9536685943603516,-0.3348889648914337,9.011475563049316],"rpy":[0.003890767926350236,0.010097918100655079,0.2889329195022583],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29025474190711975,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01733398251235485,"velocity_rad_s":0.2410736083984375,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006240623537451029,"velocity_rad_s":0.5708162188529968,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.633755624294281,"velocity_rad_s":0.10144726186990738,"acceleration_raw":0.0,"estimated_torque_nm":-5.361328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.327831894159317,"velocity_rad_s":-0.0975937619805336,"acceleration_raw":0.0,"estimated_torque_nm":7.08627986907959,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026560503989458084,"velocity_rad_s":-0.005396545398980379,"acceleration_raw":0.0,"estimated_torque_nm":0.2059679925441742,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29212960600852966,"velocity_rad_s":-0.25416359305381775,"acceleration_raw":0.0,"estimated_torque_nm":-6.6796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0041673146188259125,"velocity_rad_s":0.1385355144739151,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00999035406857729,"velocity_rad_s":0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.610302746295929,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3202863037586212,"velocity_rad_s":0.06618767976760864,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03726925700902939,"velocity_rad_s":-0.10770689696073532,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.02875239960849285,"velocity_rad_s":-0.6119560599327087,"acceleration_raw":0.0,"estimated_torque_nm":-2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015946846455335617,"velocity_rad_s":0.027257300913333893,"acceleration_raw":0.0,"estimated_torque_nm":1.5832669734954834,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03741121292114258,"velocity_rad_s":0.016614548861980438,"acceleration_raw":0.0,"estimated_torque_nm":5.094583034515381,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31227296590805054,"velocity_rad_s":0.3267379105091095,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20869329571723938,"velocity_rad_s":-0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9914309978485107,"velocity_rad_s":0.6856894493103027,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02034921385347843,"velocity_rad_s":0.7915341258049011,"acceleration_raw":0.0,"estimated_torque_nm":-0.6000000238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007981494069099426,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.08749999850988388,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17048758268356323,"velocity_rad_s":-0.4724661111831665,"acceleration_raw":0.0,"estimated_torque_nm":4.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.2018742710351944,"velocity_rad_s":0.3206019997596741,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04424576088786125,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7336982488632202,"velocity_rad_s":-1.147417664527893,"acceleration_raw":0.0,"estimated_torque_nm":4.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031446605920791626,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7263638973236084,"velocity_rad_s":2.607767343521118,"acceleration_raw":0.0,"estimated_torque_nm":5.456250190734863,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05542704090476036,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787801752608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809835,"imu":{"quaternion":[0.9896132946014404,0.001185334287583828,0.005316692870110273,0.143652081489563],"gyroscope":[0.0053263213485479355,0.029827401041984558,-0.6082659363746643],"accelerometer":[-1.9150620698928833,-0.2630629241466522,8.767267227172852],"rpy":[0.003873763605952263,0.010182565078139305,0.28832560777664185],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.290280282497406,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01709536276757717,"velocity_rad_s":0.2716168761253357,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006615596357733011,"velocity_rad_s":0.5382471084594727,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6338067650794983,"velocity_rad_s":0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-5.361328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3278895914554596,"velocity_rad_s":-0.10181377828121185,"acceleration_raw":0.0,"estimated_torque_nm":7.177547454833984,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02658909745514393,"velocity_rad_s":-0.0017133877845481038,"acceleration_raw":0.0,"estimated_torque_nm":0.15435709059238434,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2923341393470764,"velocity_rad_s":-0.24434611201286316,"acceleration_raw":0.0,"estimated_torque_nm":-6.6796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.004303668159991503,"velocity_rad_s":0.16253380477428436,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00992339476943016,"velocity_rad_s":0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.610302746295929,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.320231556892395,"velocity_rad_s":0.06892882287502289,"acceleration_raw":0.0,"estimated_torque_nm":6.568177223205566,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03717417269945145,"velocity_rad_s":-0.11610808968544006,"acceleration_raw":0.0,"estimated_torque_nm":1.8349472284317017,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.02790871076285839,"velocity_rad_s":-0.5776728391647339,"acceleration_raw":0.0,"estimated_torque_nm":-2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015946846455335617,"velocity_rad_s":0.01946907676756382,"acceleration_raw":0.0,"estimated_torque_nm":1.5832669734954834,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03741121292114258,"velocity_rad_s":0.011507420800626278,"acceleration_raw":0.0,"estimated_torque_nm":5.094583034515381,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31250065565109253,"velocity_rad_s":0.323669970035553,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2085375040769577,"velocity_rad_s":-0.2377670258283615,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9918504357337952,"velocity_rad_s":0.6657477021217346,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02099636197090149,"velocity_rad_s":0.8160778284072876,"acceleration_raw":0.0,"estimated_torque_nm":-0.612500011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008137288503348827,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.08749999850988388,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17014004290103912,"velocity_rad_s":-0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20163458585739136,"velocity_rad_s":0.3160000443458557,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04416187107563019,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.73296719789505,"velocity_rad_s":-1.0998642444610596,"acceleration_raw":0.0,"estimated_torque_nm":4.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03147057443857193,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7245182991027832,"velocity_rad_s":2.4973208904266357,"acceleration_raw":0.0,"estimated_torque_nm":5.481249809265137,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055391088128089905,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787802463360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809836,"imu":{"quaternion":[0.989656388759613,0.0011746837990358472,0.005365545861423016,0.14335310459136963],"gyroscope":[0.011717907153069973,0.04793689399957657,-0.6050701141357422],"accelerometer":[-1.8504186868667603,-0.18405425548553467,8.924386978149414],"rpy":[0.0038636154495179653,0.010283485986292362,0.2877216041088104],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2903655171394348,"velocity_rad_s":-0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01666925847530365,"velocity_rad_s":0.267253577709198,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0070173535495996475,"velocity_rad_s":0.5382471084594727,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6338493824005127,"velocity_rad_s":0.07963065057992935,"acceleration_raw":0.0,"estimated_torque_nm":-5.2734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3279514014720917,"velocity_rad_s":-0.10286920517683029,"acceleration_raw":0.0,"estimated_torque_nm":7.177547454833984,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02656683884561062,"velocity_rad_s":-0.007295024115592241,"acceleration_raw":0.0,"estimated_torque_nm":0.15435709059238434,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29274317622184753,"velocity_rad_s":-0.2967059910297394,"acceleration_raw":0.0,"estimated_torque_nm":-6.591796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.004559331573545933,"velocity_rad_s":0.18544124066829681,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009856435470283031,"velocity_rad_s":0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6102772355079651,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3201729953289032,"velocity_rad_s":0.07574701309204102,"acceleration_raw":0.0,"estimated_torque_nm":6.477825164794922,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03710084781050682,"velocity_rad_s":-0.11339660733938217,"acceleration_raw":0.0,"estimated_torque_nm":1.8853505849838257,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.027506953105330467,"velocity_rad_s":-0.5862436294555664,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015946846455335617,"velocity_rad_s":0.012652901001274586,"acceleration_raw":0.0,"estimated_torque_nm":1.6319047212600708,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03741121292114258,"velocity_rad_s":0.005778287537395954,"acceleration_raw":0.0,"estimated_torque_nm":5.170591831207275,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31296804547309875,"velocity_rad_s":0.3328738510608673,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20830979943275452,"velocity_rad_s":-0.21168935298919678,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9923058152198792,"velocity_rad_s":0.6550098061561584,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02160755731165409,"velocity_rad_s":0.803805947303772,"acceleration_raw":0.0,"estimated_torque_nm":-0.612500011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008185225538909435,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.07500000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.16918130218982697,"velocity_rad_s":-0.552233099937439,"acceleration_raw":0.0,"estimated_torque_nm":4.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20113125443458557,"velocity_rad_s":0.3190680146217346,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.044077981263399124,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7322961091995239,"velocity_rad_s":-1.0584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":4.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03145859017968178,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7226128578186035,"velocity_rad_s":2.423689842224121,"acceleration_raw":0.0,"estimated_torque_nm":5.525000095367432,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05537910386919975,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787804602976,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809837,"imu":{"quaternion":[0.9896987676620483,0.0011621282901614904,0.0054222894832491875,0.14305844902992249],"gyroscope":[0.009587379172444344,0.06604638695716858,-0.5965480208396912],"accelerometer":[-1.799242615699768,-0.16071078181266785,9.226954460144043],"rpy":[0.0038519399240612984,0.01040054950863123,0.28712642192840576],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2904166579246521,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016456205397844315,"velocity_rad_s":0.2727077007293701,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007847650907933712,"velocity_rad_s":0.5759586691856384,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6339090466499329,"velocity_rad_s":0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-5.2734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32800498604774475,"velocity_rad_s":-0.09653940796852112,"acceleration_raw":0.0,"estimated_torque_nm":7.177547454833984,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026559170335531235,"velocity_rad_s":-0.016535429283976555,"acceleration_raw":0.0,"estimated_torque_nm":0.15435709059238434,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2929306626319885,"velocity_rad_s":-0.2934334874153137,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.004704207647591829,"velocity_rad_s":0.18216875195503235,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009749299846589565,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6102175712585449,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3201266825199127,"velocity_rad_s":0.07363831251859665,"acceleration_raw":0.0,"estimated_torque_nm":6.477825164794922,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.037020403891801834,"velocity_rad_s":-0.11337236315011978,"acceleration_raw":0.0,"estimated_torque_nm":1.8853505849838257,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.027091804891824722,"velocity_rad_s":-0.5673878788948059,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015946846455335617,"velocity_rad_s":0.0038955933414399624,"acceleration_raw":0.0,"estimated_torque_nm":1.6319047212600708,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03741121292114258,"velocity_rad_s":0.00381396128796041,"acceleration_raw":0.0,"estimated_torque_nm":5.170591831207275,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31319573521614075,"velocity_rad_s":0.32827189564704895,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20820194482803345,"velocity_rad_s":-0.18100973963737488,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.993060827255249,"velocity_rad_s":0.6074564456939697,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02225470542907715,"velocity_rad_s":0.8406215310096741,"acceleration_raw":0.0,"estimated_torque_nm":-0.637499988079071,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008257131092250347,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":0.07500000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.16866599023342133,"velocity_rad_s":-0.5829127430915833,"acceleration_raw":0.0,"estimated_torque_nm":4.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20086759328842163,"velocity_rad_s":0.3298058807849884,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.043898217380046844,"velocity_rad_s":-0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7309538722038269,"velocity_rad_s":-0.9802137613296509,"acceleration_raw":0.0,"estimated_torque_nm":4.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031446605920791626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7208751440048218,"velocity_rad_s":2.3500585556030273,"acceleration_raw":0.0,"estimated_torque_nm":5.525000095367432,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05537910386919975,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787806896224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809838,"imu":{"quaternion":[0.9897405505180359,0.0011459689121693373,0.005484995432198048,0.14276695251464844],"gyroscope":[0.004261057358235121,0.08096008747816086,-0.5901564359664917],"accelerometer":[-1.6744447946548462,-0.4767454266548157,9.325715065002441],"rpy":[0.003834797302260995,0.010530427098274231,0.28653761744499207],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.290467768907547,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016209064051508904,"velocity_rad_s":0.2759802043437958,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008236016146838665,"velocity_rad_s":0.5776728391647339,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6339431405067444,"velocity_rad_s":0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-5.185546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3280791640281677,"velocity_rad_s":-0.09073673188686371,"acceleration_raw":0.0,"estimated_torque_nm":7.08627986907959,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026486031711101532,"velocity_rad_s":-0.019277473911643028,"acceleration_raw":0.0,"estimated_torque_nm":0.2059679925441742,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2931692898273468,"velocity_rad_s":-0.29561513662338257,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.004832039587199688,"velocity_rad_s":0.1745329350233078,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009709124453365803,"velocity_rad_s":0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6102005243301392,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3200303912162781,"velocity_rad_s":0.07295908033847809,"acceleration_raw":0.0,"estimated_torque_nm":6.84397554397583,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.036895789206027985,"velocity_rad_s":-0.10127503424882889,"acceleration_raw":0.0,"estimated_torque_nm":2.096113920211792,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0266900472342968,"velocity_rad_s":-0.5519603490829468,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015946846455335617,"velocity_rad_s":0.004867639858275652,"acceleration_raw":0.0,"estimated_torque_nm":1.6319047212600708,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03741121292114258,"velocity_rad_s":0.0031919546891003847,"acceleration_raw":0.0,"estimated_torque_nm":5.170591831207275,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3134593963623047,"velocity_rad_s":0.33594179153442383,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20808210968971252,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9934083819389343,"velocity_rad_s":0.5905826091766357,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023632891476154327,"velocity_rad_s":0.8897088766098022,"acceleration_raw":0.0,"estimated_torque_nm":-0.6812499761581421,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008293083868920803,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.07500000298023224,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.16813868284225464,"velocity_rad_s":-0.6289321780204773,"acceleration_raw":0.0,"estimated_torque_nm":4.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20060394704341888,"velocity_rad_s":0.3298058807849884,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04380234330892563,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7304145693778992,"velocity_rad_s":-0.9326603412628174,"acceleration_raw":0.0,"estimated_torque_nm":4.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031434621661901474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7174356579780579,"velocity_rad_s":2.239612102508545,"acceleration_raw":0.0,"estimated_torque_nm":5.556250095367432,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05537910386919975,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787808938048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809839,"imu":{"quaternion":[0.989781379699707,0.001130005344748497,0.005553755909204483,0.1424807608127594],"gyroscope":[0.0063915858045220375,0.09480852633714676,-0.5795037746429443],"accelerometer":[-1.6744447946548462,-0.4767454266548157,9.325715065002441],"rpy":[0.0038197494577616453,0.010672204196453094,0.2859596014022827],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2905189096927643,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015987489372491837,"velocity_rad_s":0.3021601438522339,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008637772873044014,"velocity_rad_s":0.543389618396759,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6339601874351501,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-4.74609375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3280791640281677,"velocity_rad_s":-0.05644897744059563,"acceleration_raw":0.0,"estimated_torque_nm":8.271965026855469,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02644248493015766,"velocity_rad_s":-0.04780974239110947,"acceleration_raw":0.0,"estimated_torque_nm":-0.3617635667324066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2933567762374878,"velocity_rad_s":-0.2977968156337738,"acceleration_raw":0.0,"estimated_torque_nm":-4.921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.005002481862902641,"velocity_rad_s":0.1941678822040558,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009601988829672337,"velocity_rad_s":0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6102005243301392,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-6.50390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3199723958969116,"velocity_rad_s":0.08071466535329819,"acceleration_raw":0.0,"estimated_torque_nm":7.839032173156738,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03686605021357536,"velocity_rad_s":-0.08927471935749054,"acceleration_raw":0.0,"estimated_torque_nm":1.6447701454162598,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.025792790576815605,"velocity_rad_s":-0.6170985698699951,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015946846455335617,"velocity_rad_s":0.0009720464004203677,"acceleration_raw":0.0,"estimated_torque_nm":1.7803804874420166,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03741121292114258,"velocity_rad_s":-0.0006220064824447036,"acceleration_raw":0.0,"estimated_torque_nm":5.094351291656494,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3136751055717468,"velocity_rad_s":0.33594179153442383,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20797424018383026,"velocity_rad_s":-0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9937679171562195,"velocity_rad_s":0.5568350553512573,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024280039593577385,"velocity_rad_s":0.8528933525085449,"acceleration_raw":0.0,"estimated_torque_nm":-0.6812499761581421,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008305068127810955,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1675754189491272,"velocity_rad_s":-0.6565437912940979,"acceleration_raw":0.0,"estimated_torque_nm":5.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.20038822293281555,"velocity_rad_s":0.3098641335964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04370646923780441,"velocity_rad_s":-0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.729911208152771,"velocity_rad_s":-0.8559613227844238,"acceleration_raw":0.0,"estimated_torque_nm":4.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031434621661901474,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7156979441642761,"velocity_rad_s":2.2825634479522705,"acceleration_raw":0.0,"estimated_torque_nm":5.537499904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05540307238698006,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.38749998807907104,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787810673440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809840,"imu":{"quaternion":[0.9898222088813782,0.0011147799668833613,0.005626141093671322,0.14219453930854797],"gyroscope":[0.009587379172444344,0.10333064198493958,-0.5795037746429443],"accelerometer":[-1.7956513166427612,-0.7496843934059143,9.516951560974121],"rpy":[0.0038071125745773315,0.010820938274264336,0.28538161516189575],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2906893491744995,"velocity_rad_s":-0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015689214691519737,"velocity_rad_s":0.21271201968193054,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.009026138111948967,"velocity_rad_s":0.5296762585639954,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6339772343635559,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-4.658203125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32806679606437683,"velocity_rad_s":-0.03745923563838005,"acceleration_raw":0.0,"estimated_torque_nm":8.362438201904297,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.026348229497671127,"velocity_rad_s":-0.06995745748281479,"acceleration_raw":0.0,"estimated_torque_nm":-0.31016427278518677,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2936294972896576,"velocity_rad_s":-0.20398537814617157,"acceleration_raw":0.0,"estimated_torque_nm":-4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.005368932615965605,"velocity_rad_s":0.23998278379440308,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009561813436448574,"velocity_rad_s":0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6102346181869507,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3198682367801666,"velocity_rad_s":0.09617819637060165,"acceleration_raw":0.0,"estimated_torque_nm":8.200439453125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.03677041456103325,"velocity_rad_s":-0.10340198874473572,"acceleration_raw":0.0,"estimated_torque_nm":1.443156361579895,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.02539103478193283,"velocity_rad_s":-0.6119560599327087,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015924064442515373,"velocity_rad_s":0.006807288154959679,"acceleration_raw":0.0,"estimated_torque_nm":1.829018235206604,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03742578998208046,"velocity_rad_s":-0.0018332506297156215,"acceleration_raw":0.0,"estimated_torque_nm":5.170360088348389,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31409457325935364,"velocity_rad_s":0.31139811873435974,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20777051150798798,"velocity_rad_s":-0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9940794706344604,"velocity_rad_s":0.5368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024891234934329987,"velocity_rad_s":0.8222137093544006,"acceleration_raw":0.0,"estimated_torque_nm":-0.668749988079071,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008305068127810955,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1666526347398758,"velocity_rad_s":-0.6381360292434692,"acceleration_raw":0.0,"estimated_torque_nm":5.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.19993282854557037,"velocity_rad_s":0.2960582971572876,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.043598610907793045,"velocity_rad_s":-0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7295277118682861,"velocity_rad_s":-0.7777283191680908,"acceleration_raw":0.0,"estimated_torque_nm":4.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031446605920791626,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.7138403654098511,"velocity_rad_s":2.337786912918091,"acceleration_raw":0.0,"estimated_torque_nm":5.456250190734863,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.055391088128089905,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4000000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787813008576,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809875,"imu":{"quaternion":[0.9906517267227173,7.287715561687946e-05,0.007128418423235416,0.13622921705245972],"gyroscope":[-0.10120011121034622,0.02556634321808815,-0.11824434250593185],"accelerometer":[0.16340427100658417,-0.12749123573303223,9.722554206848145],"rpy":[0.0020867984276264906,0.01410417165607214,0.2733300030231476],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2960668206214905,"velocity_rad_s":-0.19198623299598694,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016405072063207626,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01453020703047514,"velocity_rad_s":0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.637121856212616,"velocity_rad_s":0.12653638422489166,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32924380898475647,"velocity_rad_s":-0.04981882870197296,"acceleration_raw":0.0,"estimated_torque_nm":9.333067893981934,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.024082094430923462,"velocity_rad_s":-0.08863590657711029,"acceleration_raw":0.0,"estimated_torque_nm":-1.032697319984436,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.299509733915329,"velocity_rad_s":-0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.010882741771638393,"velocity_rad_s":0.17016960680484772,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007137880194932222,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6093056797981262,"velocity_rad_s":-0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-4.5703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3110925257205963,"velocity_rad_s":0.21781016886234283,"acceleration_raw":0.0,"estimated_torque_nm":9.359851837158203,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.022147297859191895,"velocity_rad_s":-0.37481120228767395,"acceleration_raw":0.0,"estimated_torque_nm":1.1810206174850464,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011048314161598682,"velocity_rad_s":-0.1799870729446411,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01536807231605053,"velocity_rad_s":-0.010608244687318802,"acceleration_raw":0.0,"estimated_torque_nm":1.744586706161499,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03638157993555069,"velocity_rad_s":0.08129602670669556,"acceleration_raw":0.0,"estimated_torque_nm":3.4931790828704834,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3122849464416504,"velocity_rad_s":-0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2051459699869156,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.002240777015686,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04746951535344124,"velocity_rad_s":0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":-0.706250011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008281099610030651,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14377474784851074,"velocity_rad_s":-0.5108156204223633,"acceleration_raw":0.0,"estimated_torque_nm":6.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18932679295539856,"velocity_rad_s":0.3021942377090454,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.035473305732011795,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7173997163772583,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":4.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03163835406303406,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.6164565682411194,"velocity_rad_s":3.215223789215088,"acceleration_raw":0.0,"estimated_torque_nm":4.068749904632568,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05370131507515907,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787814969664,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809876,"imu":{"quaternion":[0.9906593561172485,2.02542869374156e-05,0.007133049424737692,0.13617362082004547],"gyroscope":[-0.10013484209775925,0.026631608605384827,-0.11504854261875153],"accelerometer":[0.1346738487482071,-0.1678933948278427,9.903017044067383],"rpy":[0.001982995541766286,0.01412779837846756,0.2732170522212982],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2962372601032257,"velocity_rad_s":-0.20616701245307922,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016405072063207626,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014570382423698902,"velocity_rad_s":0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6372752785682678,"velocity_rad_s":0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3292725086212158,"velocity_rad_s":-0.05086776614189148,"acceleration_raw":0.0,"estimated_torque_nm":9.333067893981934,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02401655726134777,"velocity_rad_s":-0.092359758913517,"acceleration_raw":0.0,"estimated_torque_nm":-1.032697319984436,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29956939816474915,"velocity_rad_s":-0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011002050712704659,"velocity_rad_s":0.14180800318717957,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007151272147893906,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091948747634888,"velocity_rad_s":-0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-4.5703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3109499514102936,"velocity_rad_s":0.21402551233768463,"acceleration_raw":0.0,"estimated_torque_nm":9.45114803314209,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.02192806638777256,"velocity_rad_s":-0.36641037464141846,"acceleration_raw":0.0,"estimated_torque_nm":1.23356294631958,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010941178537905216,"velocity_rad_s":-0.15084631741046906,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015375622548162937,"velocity_rad_s":-0.014502260833978653,"acceleration_raw":0.0,"estimated_torque_nm":1.744586706161499,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03633728250861168,"velocity_rad_s":0.07873965054750443,"acceleration_raw":0.0,"estimated_torque_nm":3.4931790828704834,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3119613528251648,"velocity_rad_s":-0.34207773208618164,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2051699310541153,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0022287368774414,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.047757137566804886,"velocity_rad_s":0.41724279522895813,"acceleration_raw":0.0,"estimated_torque_nm":-0.706250011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008281099610030651,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14347514510154724,"velocity_rad_s":-0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":6.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18909908831119537,"velocity_rad_s":0.3098641335964203,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03543735295534134,"velocity_rad_s":-0.15800002217292786,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7173997163772583,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":4.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03166232258081436,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.6139878034591675,"velocity_rad_s":3.2581753730773926,"acceleration_raw":0.0,"estimated_torque_nm":4.0,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05370131507515907,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787817010272,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809877,"imu":{"quaternion":[0.9906666874885559,-3.1360541470348835e-05,0.007137313950806856,0.13612009584903717],"gyroscope":[-0.09800431877374649,0.026631608605384827,-0.11078748852014542],"accelerometer":[0.1346738487482071,-0.1678933948278427,9.903017044067383],"rpy":[0.001881117234006524,0.0141504080966115,0.2731083035469055],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2963906526565552,"velocity_rad_s":-0.20725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016379505395889282,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014637341722846031,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6373605132102966,"velocity_rad_s":0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-6.064453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.329317569732666,"velocity_rad_s":-0.04509938880801201,"acceleration_raw":0.0,"estimated_torque_nm":9.792190551757812,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023936383426189423,"velocity_rad_s":-0.08395449817180634,"acceleration_raw":0.0,"estimated_torque_nm":-1.2907520532608032,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29961201548576355,"velocity_rad_s":-0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01110431645065546,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007151272147893906,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091693043708801,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-4.658203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31067711114883423,"velocity_rad_s":0.19902248680591583,"acceleration_raw":0.0,"estimated_torque_nm":9.268555641174316,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.021482493728399277,"velocity_rad_s":-0.34581562876701355,"acceleration_raw":0.0,"estimated_torque_nm":1.1284782886505127,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01084743533283472,"velocity_rad_s":-0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015375565737485886,"velocity_rad_s":-0.006714229006320238,"acceleration_raw":0.0,"estimated_torque_nm":1.7932251691818237,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03628799319267273,"velocity_rad_s":0.08385239541530609,"acceleration_raw":0.0,"estimated_torque_nm":3.569105386734009,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3116617500782013,"velocity_rad_s":-0.3712233603000641,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2052178680896759,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0022047758102417,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04834436625242233,"velocity_rad_s":0.3497476279735565,"acceleration_raw":0.0,"estimated_torque_nm":-0.6937500238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008269115351140499,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1432594358921051,"velocity_rad_s":-0.4387185275554657,"acceleration_raw":0.0,"estimated_torque_nm":6.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18888337910175323,"velocity_rad_s":0.30526217818260193,"acceleration_raw":0.0,"estimated_torque_nm":-1.4375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03542536869645119,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.717423677444458,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":4.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031746212393045425,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.6087507009506226,"velocity_rad_s":3.2888548374176025,"acceleration_raw":0.0,"estimated_torque_nm":3.9437499046325684,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05364139378070831,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787818748224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809878,"imu":{"quaternion":[0.9906738996505737,-8.421891834586859e-05,0.00714372331276536,0.13606712222099304],"gyroscope":[-0.10013484209775925,0.03195792809128761,-0.10972222685813904],"accelerometer":[0.05656301602721214,0.08080431073904037,10.060135841369629],"rpy":[0.0017773641739040613,0.0141775943338871,0.27300065755844116],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29673153162002563,"velocity_rad_s":-0.23998278379440308,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016336895525455475,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014623950235545635,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6374286413192749,"velocity_rad_s":0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-6.767578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32932984828948975,"velocity_rad_s":-0.03985636681318283,"acceleration_raw":0.0,"estimated_torque_nm":9.79460620880127,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023856448009610176,"velocity_rad_s":-0.0913449227809906,"acceleration_raw":0.0,"estimated_torque_nm":-1.600382685661316,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2996802031993866,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011232147924602032,"velocity_rad_s":0.1636246144771576,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,35],"voltage_raw":52.0,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007151272147893906,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091437935829163,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3105764389038086,"velocity_rad_s":0.18517306447029114,"acceleration_raw":0.0,"estimated_torque_nm":9.719386100769043,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.02127823419868946,"velocity_rad_s":-0.3400360941886902,"acceleration_raw":0.0,"estimated_torque_nm":0.8433930277824402,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010713516734540462,"velocity_rad_s":-0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0153755322098732,"velocity_rad_s":0.009799511171877384,"acceleration_raw":0.0,"estimated_torque_nm":1.9442596435546875,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03625841811299324,"velocity_rad_s":0.06317195296287537,"acceleration_raw":0.0,"estimated_torque_nm":3.189025402069092,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3109906315803528,"velocity_rad_s":-0.4157088100910187,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2052418440580368,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0021928548812866,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04860801622271538,"velocity_rad_s":0.3804272413253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.668749988079071,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008305068127810955,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14280402660369873,"velocity_rad_s":-0.37582531571388245,"acceleration_raw":0.0,"estimated_torque_nm":6.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18865567445755005,"velocity_rad_s":0.3190680146217346,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03543735295534134,"velocity_rad_s":-0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7173997163772583,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03175819665193558,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.6062819361686707,"velocity_rad_s":3.301126718521118,"acceleration_raw":0.0,"estimated_torque_nm":3.9000000953674316,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.053593456745147705,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787821068640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809879,"imu":{"quaternion":[0.9906808733940125,-0.00013754295650869608,0.007148674689233303,0.13601626455783844],"gyroscope":[-0.1022653728723526,0.029827401041984558,-0.10546116530895233],"accelerometer":[0.043095629662275314,0.34027591347694397,10.022427558898926],"rpy":[0.0016723189037293196,0.014202004298567772,0.27289730310440063],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29694458842277527,"velocity_rad_s":-0.2607085704803467,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016260195523500443,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014664125628769398,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6375309228897095,"velocity_rad_s":0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293544352054596,"velocity_rad_s":-0.0424780547618866,"acceleration_raw":0.0,"estimated_torque_nm":9.612567901611328,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023783687502145767,"velocity_rad_s":-0.09043645858764648,"acceleration_raw":0.0,"estimated_torque_nm":-1.7035812139511108,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2996802031993866,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011479289270937443,"velocity_rad_s":0.17562377452850342,"acceleration_raw":0.0,"estimated_torque_nm":2.900390625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0071914480067789555,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.733842372894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091267466545105,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-3.69140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31044667959213257,"velocity_rad_s":0.18479879200458527,"acceleration_raw":0.0,"estimated_torque_nm":9.78989028930664,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.02106669172644615,"velocity_rad_s":-0.33953824639320374,"acceleration_raw":0.0,"estimated_torque_nm":0.6997637152671814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010700124315917492,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01533751655369997,"velocity_rad_s":0.011722161434590816,"acceleration_raw":0.0,"estimated_torque_nm":1.9429799318313599,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03624331206083298,"velocity_rad_s":0.04299952834844589,"acceleration_raw":0.0,"estimated_torque_nm":3.3409903049468994,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3106550872325897,"velocity_rad_s":-0.43718454241752625,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20534969866275787,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0022047758102417,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04884770140051842,"velocity_rad_s":0.35588356852531433,"acceleration_raw":0.0,"estimated_torque_nm":-0.6812499761581421,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008281099610030651,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14257632195949554,"velocity_rad_s":-0.3712233603000641,"acceleration_raw":0.0,"estimated_torque_nm":6.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18823622167110443,"velocity_rad_s":0.3067961633205414,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.035413384437561035,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7173997163772583,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03179414942860603,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.6037293076515198,"velocity_rad_s":3.3502142429351807,"acceleration_raw":0.0,"estimated_torque_nm":3.862499952316284,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05358147248625755,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787823106240,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809880,"imu":{"quaternion":[0.9906875491142273,-0.00019075942691415548,0.007152806501835585,0.13596701622009277],"gyroscope":[-0.10333064198493958,0.02876213565468788,-0.1022653728723526],"accelerometer":[0.05027823522686958,0.5072714686393738,9.808745384216309],"rpy":[0.0015672846930101514,0.014224746264517307,0.2727971076965332],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.297149121761322,"velocity_rad_s":-0.27052605152130127,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016217585653066635,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014757868833839893,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6376246809959412,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32937902212142944,"velocity_rad_s":-0.04457651823759079,"acceleration_raw":0.0,"estimated_torque_nm":9.612567901611328,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023681890219449997,"velocity_rad_s":-0.10717335343360901,"acceleration_raw":0.0,"estimated_torque_nm":-1.7035812139511108,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29965463280677795,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01161564327776432,"velocity_rad_s":0.1745329350233078,"acceleration_raw":0.0,"estimated_torque_nm":2.900390625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0072584073059260845,"velocity_rad_s":-0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091096997261047,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3103165626525879,"velocity_rad_s":0.17679287493228912,"acceleration_raw":0.0,"estimated_torque_nm":9.78989028930664,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.02082621306180954,"velocity_rad_s":-0.3311121463775635,"acceleration_raw":0.0,"estimated_torque_nm":0.6997637152671814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010673340409994125,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015291917137801647,"velocity_rad_s":0.021434273570775986,"acceleration_raw":0.0,"estimated_torque_nm":1.8444231748580933,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.036242928355932236,"velocity_rad_s":0.02920164167881012,"acceleration_raw":0.0,"estimated_torque_nm":3.341102123260498,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.31031954288482666,"velocity_rad_s":-0.4525243639945984,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20539763569831848,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.002168893814087,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04909937083721161,"velocity_rad_s":0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":-0.668749988079071,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008269115351140499,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1423606127500534,"velocity_rad_s":-0.3466796576976776,"acceleration_raw":0.0,"estimated_torque_nm":6.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.188044473528862,"velocity_rad_s":0.2899223864078522,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03540140017867088,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174356579780579,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031806133687496185,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.6009130477905273,"velocity_rad_s":3.4729325771331787,"acceleration_raw":0.0,"estimated_torque_nm":3.7750000953674316,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0535694882273674,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787825082080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809881,"imu":{"quaternion":[0.990693986415863,-0.00024102666066028178,0.007156539708375931,0.13592039048671722],"gyroscope":[-0.09906958043575287,0.027696872130036354,-0.09693904966115952],"accelerometer":[0.049380410462617874,0.7416039705276489,9.71357536315918],"rpy":[0.0014680213062092662,0.014245884492993355,0.2727023661136627],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2973451316356659,"velocity_rad_s":-0.28034353256225586,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01619201898574829,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014757868833839893,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6376843452453613,"velocity_rad_s":0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3294486701488495,"velocity_rad_s":-0.048248451203107834,"acceleration_raw":0.0,"estimated_torque_nm":9.612567901611328,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023499920964241028,"velocity_rad_s":-0.13042496144771576,"acceleration_raw":0.0,"estimated_torque_nm":-1.7035812139511108,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2996290624141693,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-0.087890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01173495315015316,"velocity_rad_s":0.1592613011598587,"acceleration_raw":0.0,"estimated_torque_nm":2.900390625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007271799258887768,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091182231903076,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.31007346510887146,"velocity_rad_s":0.16455364227294922,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.020417924970388412,"velocity_rad_s":-0.32264798879623413,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010686732828617096,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015291917137801647,"velocity_rad_s":0.02045646868646145,"acceleration_raw":0.0,"estimated_torque_nm":1.893061637878418,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.036242928355932236,"velocity_rad_s":0.02477714791893959,"acceleration_raw":0.0,"estimated_torque_nm":3.4170286655426025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30994802713394165,"velocity_rad_s":-0.47093212604522705,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20540961623191833,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0021209716796875,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.049554772675037384,"velocity_rad_s":0.3067961633205414,"acceleration_raw":0.0,"estimated_torque_nm":-0.668749988079071,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008281099610030651,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14214488863945007,"velocity_rad_s":-0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":6.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18787670135498047,"velocity_rad_s":0.27458256483078003,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03534147888422012,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174356579780579,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03184208646416664,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5952684283256531,"velocity_rad_s":3.6447384357452393,"acceleration_raw":0.0,"estimated_torque_nm":3.625,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0535455197095871,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787827090496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809882,"imu":{"quaternion":[0.9906995892524719,-0.0002864736597985029,0.007161750923842192,0.13587895035743713],"gyroscope":[-0.09054746478796005,0.029827401041984558,-0.08628641068935394],"accelerometer":[0.049380410462617874,0.7416039705276489,9.71357536315918],"rpy":[0.0013787844218313694,0.014268622733652592,0.2726180851459503],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2977030575275421,"velocity_rad_s":-0.246527761220932,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016149409115314484,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01478465273976326,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6377440094947815,"velocity_rad_s":0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":-7.20703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32948145270347595,"velocity_rad_s":-0.05034584552049637,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023412587121129036,"velocity_rad_s":-0.1304413229227066,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2995438277721405,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011828696355223656,"velocity_rad_s":0.1494438350200653,"acceleration_raw":0.0,"estimated_torque_nm":2.98828125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007298583164811134,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091011762619019,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30997294187545776,"velocity_rad_s":0.15687185525894165,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.02025747485458851,"velocity_rad_s":-0.2891625761985779,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010686732828617096,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015299511142075062,"velocity_rad_s":1.5760859241709113e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.893061637878418,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.036238063126802444,"velocity_rad_s":0.013879806734621525,"acceleration_raw":0.0,"estimated_torque_nm":3.4170286655426025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30922895669937134,"velocity_rad_s":-0.4862719178199768,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20546954870224,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0021209716796875,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04978246986865997,"velocity_rad_s":0.29452431201934814,"acceleration_raw":0.0,"estimated_torque_nm":-0.65625,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008257131092250347,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.141809344291687,"velocity_rad_s":-0.2960582971572876,"acceleration_raw":0.0,"estimated_torque_nm":6.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1876969337463379,"velocity_rad_s":0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03528155758976936,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174476385116577,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.031866054981946945,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5924521684646606,"velocity_rad_s":3.718369483947754,"acceleration_raw":0.0,"estimated_torque_nm":3.5687499046325684,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0535455197095871,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787829141824,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809883,"imu":{"quaternion":[0.9907042980194092,-0.00033313361927866936,0.007168204057961702,0.135843887925148],"gyroscope":[-0.09374325722455978,0.03302319347858429,-0.07350324094295502],"accelerometer":[0.020649990066885948,0.6302735805511475,9.548376083374023],"rpy":[0.0012875715037807822,0.014294137246906757,0.272546648979187],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29791611433029175,"velocity_rad_s":-0.2617993950843811,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016055665910243988,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01478465273976326,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6378121376037598,"velocity_rad_s":0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":-7.20703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3295101225376129,"velocity_rad_s":-0.04877380654215813,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02331799454987049,"velocity_rad_s":-0.14622065424919128,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29946714639663696,"velocity_rad_s":0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012024705298244953,"velocity_rad_s":0.12217305600643158,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007325367070734501,"velocity_rad_s":-0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609092652797699,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30987659096717834,"velocity_rad_s":0.1509978324174881,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.020104313269257545,"velocity_rad_s":-0.282612144947052,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010686732828617096,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015322305262088776,"velocity_rad_s":-0.016525203362107277,"acceleration_raw":0.0,"estimated_torque_nm":1.9417001008987427,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0362333282828331,"velocity_rad_s":0.010586037300527096,"acceleration_raw":0.0,"estimated_torque_nm":3.492955207824707,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3088814318180084,"velocity_rad_s":-0.4970097839832306,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2055654227733612,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0020968914031982,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04998620226979256,"velocity_rad_s":0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-0.65625,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008269115351140499,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14170147478580475,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":6.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18734939396381378,"velocity_rad_s":0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.035233620554208755,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174476385116577,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0319020077586174,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5896238684654236,"velocity_rad_s":3.7674570083618164,"acceleration_raw":0.0,"estimated_torque_nm":3.512500047683716,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05352155119180679,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787833967424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809884,"imu":{"quaternion":[0.9907079935073853,-0.00037999864434823394,0.007175068836659193,0.1358167678117752],"gyroscope":[-0.09480852633714676,0.034088458865880966,-0.05752427130937576],"accelerometer":[-0.06554127484560013,0.4605845510959625,9.211690902709961],"rpy":[0.0011961767449975014,0.01432050671428442,0.27249130606651306],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29809507727622986,"velocity_rad_s":-0.24434611201286316,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01601305417716503,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014757868833839893,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6380167007446289,"velocity_rad_s":0.13962635397911072,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3295387923717499,"velocity_rad_s":-0.04824903979897499,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0232669860124588,"velocity_rad_s":-0.13971413671970367,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29938191175460815,"velocity_rad_s":0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012101403437554836,"velocity_rad_s":0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007338759023696184,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090585589408875,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-3.69140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3097802698612213,"velocity_rad_s":0.13971059024333954,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019951151683926582,"velocity_rad_s":-0.26116129755973816,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010673340409994125,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015337483026087284,"velocity_rad_s":-0.021381258964538574,"acceleration_raw":0.0,"estimated_torque_nm":1.9417001008987427,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03621374070644379,"velocity_rad_s":0.017484979704022408,"acceleration_raw":0.0,"estimated_torque_nm":3.492955207824707,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3084859549999237,"velocity_rad_s":-0.5169515609741211,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20562534034252167,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005081311333924532,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0020250082015991,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.050225887447595596,"velocity_rad_s":0.3129321038722992,"acceleration_raw":0.0,"estimated_torque_nm":-0.65625,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008257131092250347,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1416415572166443,"velocity_rad_s":-0.21935926377773285,"acceleration_raw":0.0,"estimated_torque_nm":6.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18722954392433167,"velocity_rad_s":0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.035173699259757996,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174715995788574,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":4.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03193796053528786,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5865439176559448,"velocity_rad_s":3.847223997116089,"acceleration_raw":0.0,"estimated_torque_nm":3.4312500953674316,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05350956693291664,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787836286432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809885,"imu":{"quaternion":[0.9907106161117554,-0.0004275749670341611,0.007182938512414694,0.13579650223255157],"gyroscope":[-0.09693904966115952,0.03621898591518402,-0.04367583617568016],"accelerometer":[-0.18495208024978638,0.6042366623878479,9.138069152832031],"rpy":[0.0011037435615435243,0.014349046163260937,0.2724497318267822],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29828256368637085,"velocity_rad_s":-0.24216444790363312,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015978965908288956,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014757868833839893,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6381019353866577,"velocity_rad_s":0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32956749200820923,"velocity_rad_s":-0.0409056581556797,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023186922073364258,"velocity_rad_s":-0.10064228624105453,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2993137240409851,"velocity_rad_s":0.1330813616514206,"acceleration_raw":0.0,"estimated_torque_nm":-0.087890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012169580906629562,"velocity_rad_s":0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007338759023696184,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.733842372894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090329885482788,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-3.69140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.309629887342453,"velocity_rad_s":0.134515181183815,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019761256873607635,"velocity_rad_s":-0.2082054167985916,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010713516734540462,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015375465154647827,"velocity_rad_s":-0.03402820602059364,"acceleration_raw":0.0,"estimated_torque_nm":1.9417001008987427,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03619927167892456,"velocity_rad_s":0.016747578978538513,"acceleration_raw":0.0,"estimated_torque_nm":3.492955207824707,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30815038084983826,"velocity_rad_s":-0.5092816352844238,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20569723844528198,"velocity_rad_s":0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00506932707503438,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0019651651382446,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.050633352249860764,"velocity_rad_s":0.3067961633205414,"acceleration_raw":0.0,"estimated_torque_nm":-0.668749988079071,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008257131092250347,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14159362018108368,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":6.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18706177175045013,"velocity_rad_s":0.22549518942832947,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.035173699259757996,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174835801124573,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.032045818865299225,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.580324113368988,"velocity_rad_s":4.037437438964844,"acceleration_raw":0.0,"estimated_torque_nm":3.28125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.053473614156246185,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787838006016,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809886,"imu":{"quaternion":[0.9907126426696777,-0.00047421292401850224,0.007193158380687237,0.13578154146671295],"gyroscope":[-0.09587378799915314,0.04048004373908043,-0.03302319347858429],"accelerometer":[-0.21637597680091858,0.8798691034317017,9.276334762573242],"rpy":[0.0010138837387785316,0.01438197959214449,0.2724189758300781],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29846152663230896,"velocity_rad_s":-0.24216444790363312,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015919310972094536,"velocity_rad_s":0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014771261252462864,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6381956338882446,"velocity_rad_s":0.12108222395181656,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32957977056503296,"velocity_rad_s":-0.03775825724005699,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023179572075605392,"velocity_rad_s":-0.0801815465092659,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29923704266548157,"velocity_rad_s":0.11562806367874146,"acceleration_raw":0.0,"estimated_torque_nm":-0.087890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012220713309943676,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00735215051099658,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.733842372894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090074181556702,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-3.69140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30957573652267456,"velocity_rad_s":0.11625001579523087,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019710004329681396,"velocity_rad_s":-0.17462481558322906,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010726908221840858,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015398248098790646,"velocity_rad_s":-0.031103400513529778,"acceleration_raw":0.0,"estimated_torque_nm":1.9916183948516846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.036184679716825485,"velocity_rad_s":0.02245025895535946,"acceleration_raw":0.0,"estimated_torque_nm":3.416916847229004,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30740734934806824,"velocity_rad_s":-0.5276893973350525,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20578113198280334,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005057343281805515,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0019052028656006,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05080113187432289,"velocity_rad_s":0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-0.65625,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008233162574470043,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14153370261192322,"velocity_rad_s":-0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":6.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1869419366121292,"velocity_rad_s":0.20555342733860016,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.035173699259757996,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174955606460571,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03212970867753029,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.57718425989151,"velocity_rad_s":4.147884368896484,"acceleration_raw":0.0,"estimated_torque_nm":3.2125000953674316,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05340170860290527,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787842245600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809887,"imu":{"quaternion":[0.9907141327857971,-0.000520438130479306,0.007208875846117735,0.13576972484588623],"gyroscope":[-0.09480852633714676,0.0511326864361763,-0.026631608605384827],"accelerometer":[-0.21637597680091858,0.8798691034317017,9.276334762573242],"rpy":[0.0009263795800507069,0.014425690285861492,0.2723945379257202],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2987768352031708,"velocity_rad_s":-0.22798363864421844,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01582556776702404,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014744477346539497,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6383064389228821,"velocity_rad_s":0.12108222395181656,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3295879662036896,"velocity_rad_s":-0.03094058856368065,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02317950874567032,"velocity_rad_s":-0.06247890740633011,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2990495562553406,"velocity_rad_s":0.12980887293815613,"acceleration_raw":0.0,"estimated_torque_nm":-0.087890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01233150064945221,"velocity_rad_s":0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007378934416919947,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.733842372894287,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090074181556702,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-3.69140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3095131814479828,"velocity_rad_s":0.10074461251497269,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019644195213913918,"velocity_rad_s":-0.1549925059080124,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010780476033687592,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015451431274414062,"velocity_rad_s":-0.028178589418530464,"acceleration_raw":0.0,"estimated_torque_nm":1.9916183948516846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.036170341074466705,"velocity_rad_s":0.028152938932180405,"acceleration_raw":0.0,"estimated_torque_nm":3.416916847229004,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3070118725299835,"velocity_rad_s":-0.5230874419212341,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20597288012504578,"velocity_rad_s":0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0018452405929565,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05098089575767517,"velocity_rad_s":0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-0.637499988079071,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008233162574470043,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14144980907440186,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":6.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18664231896400452,"velocity_rad_s":0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.035233620554208755,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174955606460571,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.032237567007541656,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5737447738647461,"velocity_rad_s":4.252194881439209,"acceleration_raw":0.0,"estimated_torque_nm":3.112499952316284,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05336575582623482,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787842935968,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809888,"imu":{"quaternion":[0.9907153844833374,-0.0005644484772346914,0.0072318618185818195,0.13575950264930725],"gyroscope":[-0.08948220312595367,0.0649811252951622,-0.023435814306139946],"accelerometer":[-0.13826514780521393,0.8655039072036743,9.443329811096191],"rpy":[0.0008452608599327505,0.014483198523521423,0.27237340807914734],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2988961637020111,"velocity_rad_s":-0.20943953096866608,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015800001099705696,"velocity_rad_s":0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014744477346539497,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6384769082069397,"velocity_rad_s":0.12108222395181656,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32957568764686584,"velocity_rad_s":-0.018355373293161392,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023186858743429184,"velocity_rad_s":-0.04937586188316345,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29900693893432617,"velocity_rad_s":0.11671890318393707,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012374111451208591,"velocity_rad_s":0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007445894181728363,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6089988946914673,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-3.779296875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30945903062820435,"velocity_rad_s":0.10017746686935425,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019592944532632828,"velocity_rad_s":-0.15034624934196472,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010807259939610958,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015451420098543167,"velocity_rad_s":-0.03110053390264511,"acceleration_raw":0.0,"estimated_torque_nm":1.9916183948516846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03616048023104668,"velocity_rad_s":0.024973861873149872,"acceleration_raw":0.0,"estimated_torque_nm":3.416916847229004,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30662837624549866,"velocity_rad_s":-0.5368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20608073472976685,"velocity_rad_s":0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.001725435256958,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.051124703139066696,"velocity_rad_s":0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008233162574470043,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1414138525724411,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":6.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1864985078573227,"velocity_rad_s":0.21629129350185394,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03536544740200043,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174835801124573,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03232145681977272,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5704730749130249,"velocity_rad_s":4.319690227508545,"acceleration_raw":0.0,"estimated_torque_nm":3.0562500953674316,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05332980304956436,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787844712608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809889,"imu":{"quaternion":[0.9907153844833374,-0.0005644484772346914,0.0072318618185818195,0.13575950264930725],"gyroscope":[-0.08948220312595367,0.0649811252951622,-0.023435814306139946],"accelerometer":[-0.13826514780521393,0.8655039072036743,9.443329811096191],"rpy":[0.0008452608599327505,0.014483198523521423,0.27237340807914734],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2990325093269348,"velocity_rad_s":-0.2050761878490448,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01576591283082962,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014757868833839893,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6385706067085266,"velocity_rad_s":0.12653638422489166,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32957977056503296,"velocity_rad_s":-0.010488767176866531,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023179572075605392,"velocity_rad_s":-0.027949372306466103,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2989387512207031,"velocity_rad_s":0.11126474291086197,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012442288920283318,"velocity_rad_s":0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":3.076171875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007472677621990442,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609015941619873,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30935922265052795,"velocity_rad_s":0.0897814929485321,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.0,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019519513472914696,"velocity_rad_s":-0.10848235338926315,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010860827751457691,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015489425510168076,"velocity_rad_s":-0.035969484597444534,"acceleration_raw":0.0,"estimated_torque_nm":2.040256977081299,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03616572916507721,"velocity_rad_s":0.020516598597168922,"acceleration_raw":0.0,"estimated_torque_nm":3.4928431510925293,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3062209188938141,"velocity_rad_s":-0.526155412197113,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20617660880088806,"velocity_rad_s":0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0016535520553589,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05143629387021065,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.612500011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00820919405668974,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1414138525724411,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":6.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18635469675064087,"velocity_rad_s":0.21935926377773285,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03543735295534134,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174955606460571,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03259709104895592,"velocity_rad_s":-0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5637499690055847,"velocity_rad_s":4.338098049163818,"acceleration_raw":0.0,"estimated_torque_nm":2.9625000953674316,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.053281866014003754,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787846822720,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809890,"imu":{"quaternion":[0.9907167553901672,-0.0006417728145606816,0.007295473013073206,0.13574467599391937],"gyroscope":[-0.07669903337955475,0.08415587991476059,-0.015978964045643806],"accelerometer":[0.01975216343998909,0.8502408862113953,9.815927505493164],"rpy":[0.0007090891012921929,0.014630250632762909,0.2723426818847656],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.2991773784160614,"velocity_rad_s":-0.2050761878490448,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015748869627714157,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014731084927916527,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6386473178863525,"velocity_rad_s":0.09162978827953339,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32957568764686584,"velocity_rad_s":-0.009440068155527115,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023172348737716675,"velocity_rad_s":-0.02794118970632553,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29887911677360535,"velocity_rad_s":0.1025380939245224,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01245081052184105,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007499461527913809,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090244650840759,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-3.955078125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093299865722656,"velocity_rad_s":0.07751185446977615,"acceleration_raw":0.0,"estimated_torque_nm":9.880950927734375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01948300376534462,"velocity_rad_s":-0.0963049829006195,"acceleration_raw":0.0,"estimated_torque_nm":0.7521481513977051,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011008137837052345,"velocity_rad_s":0.10113560408353806,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015504613518714905,"velocity_rad_s":-0.03694728761911392,"acceleration_raw":0.0,"estimated_torque_nm":2.040256977081299,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03615599870681763,"velocity_rad_s":0.016092102974653244,"acceleration_raw":0.0,"estimated_torque_nm":3.4928431510925293,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30586138367652893,"velocity_rad_s":-0.5169515609741211,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20623652637004852,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0016175508499146,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05158010497689247,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.612500011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008221178315579891,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14142584800720215,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":6.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18621088564395905,"velocity_rad_s":0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03550925850868225,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7174955606460571,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.032764870673418045,"velocity_rad_s":-0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5603104829788208,"velocity_rad_s":4.3319621086120605,"acceleration_raw":0.0,"estimated_torque_nm":2.918750047683716,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0532459132373333,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787848915808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809891,"imu":{"quaternion":[0.9907168745994568,-0.0006793522625230253,0.007330453488975763,0.13574175536632538],"gyroscope":[-0.07563376426696777,0.0884169414639473,-0.008522114716470242],"accelerometer":[0.218171626329422,0.7200561761856079,10.127472877502441],"rpy":[0.0006440755678340793,0.014709771610796452,0.2723363935947418],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29938191175460815,"velocity_rad_s":-0.16580629348754883,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015731824561953545,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014731084927916527,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6387325525283813,"velocity_rad_s":0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-7.3828125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958388328552246,"velocity_rad_s":-0.0068174321204423904,"acceleration_raw":0.0,"estimated_torque_nm":9.612567901611328,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02318679541349411,"velocity_rad_s":-0.013986960984766483,"acceleration_raw":0.0,"estimated_torque_nm":-1.7035812139511108,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2988024055957794,"velocity_rad_s":0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012527509592473507,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007539637386798859,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090244650840759,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-3.955078125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3092843294143677,"velocity_rad_s":0.07260926067829132,"acceleration_raw":0.0,"estimated_torque_nm":9.891797065734863,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019460834562778473,"velocity_rad_s":-0.0823579654097557,"acceleration_raw":0.0,"estimated_torque_nm":0.7583878636360168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011088489554822445,"velocity_rad_s":0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015535002574324608,"velocity_rad_s":-0.041817668825387955,"acceleration_raw":0.0,"estimated_torque_nm":2.088895320892334,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03614639863371849,"velocity_rad_s":0.010373039171099663,"acceleration_raw":0.0,"estimated_torque_nm":3.568769693374634,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3052142560482025,"velocity_rad_s":-0.47400009632110596,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20635637640953064,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0015337467193604,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05169994756579399,"velocity_rad_s":0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-0.612500011920929,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00820919405668974,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14140187203884125,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":6.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.185971200466156,"velocity_rad_s":0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03556917980313301,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7175434827804565,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03292066603899002,"velocity_rad_s":-0.18561168015003204,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5569788813591003,"velocity_rad_s":4.387185096740723,"acceleration_raw":0.0,"estimated_torque_nm":2.8687500953674316,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05318599194288254,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787850743616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809892,"imu":{"quaternion":[0.9907163977622986,-0.0007144541596062481,0.007364882156252861,0.13574406504631042],"gyroscope":[-0.07137271016836166,0.08735167235136032,0.0021305286791175604],"accelerometer":[0.218171626329422,0.7200561761856079,10.127472877502441],"rpy":[0.0005838989745825529,0.0147875240072608,0.2723407447338104],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.299509733915329,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015731824561953545,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014664125628769398,"velocity_rad_s":-0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6388689279556274,"velocity_rad_s":0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32957160472869873,"velocity_rad_s":0.002620264422148466,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023165125399827957,"velocity_rad_s":-0.023202499374747276,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29874274134635925,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012536032125353813,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007606596685945988,"velocity_rad_s":-0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090329885482788,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-3.955078125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30925512313842773,"velocity_rad_s":0.06618437170982361,"acceleration_raw":0.0,"estimated_torque_nm":9.891797065734863,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019424298778176308,"velocity_rad_s":-0.07301700860261917,"acceleration_raw":0.0,"estimated_torque_nm":0.7583878636360168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011142057366669178,"velocity_rad_s":0.10456392168998718,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015565390698611736,"velocity_rad_s":-0.044735316187143326,"acceleration_raw":0.0,"estimated_torque_nm":2.088895320892334,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.036136798560619354,"velocity_rad_s":0.01097936276346445,"acceleration_raw":0.0,"estimated_torque_nm":3.568769693374634,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3049625754356384,"velocity_rad_s":-0.4387185275554657,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2064162939786911,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0013779401779175,"velocity_rad_s":-0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05180780589580536,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-0.612500011920929,"temperature_raw":[43,36],"voltage_raw":52.0,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008197209797799587,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14142584800720215,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":5.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18583938479423523,"velocity_rad_s":0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-1.5,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03568902239203453,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7177472114562988,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":4.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03304050862789154,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5535154342651367,"velocity_rad_s":4.558990955352783,"acceleration_raw":0.0,"estimated_torque_nm":2.7562499046325684,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05315003916621208,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787853148224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809892,"imu":{"quaternion":[0.9907163977622986,-0.0007144541596062481,0.007364882156252861,0.13574406504631042],"gyroscope":[-0.07137271016836166,0.08735167235136032,0.0021305286791175604],"accelerometer":[0.218171626329422,0.7200561761856079,10.127472877502441],"rpy":[0.0005838989745825529,0.0147875240072608,0.2723407447338104],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29960349202156067,"velocity_rad_s":-0.15053464472293854,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015723302960395813,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014650734141469002,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6389200091362,"velocity_rad_s":0.09272062033414841,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32957160472869873,"velocity_rad_s":0.0010470383567735553,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023165125399827957,"velocity_rad_s":-0.026001527905464172,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2987086772918701,"velocity_rad_s":0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012536032125353813,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007673555985093117,"velocity_rad_s":-0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090329885482788,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3092009723186493,"velocity_rad_s":0.056506332010030746,"acceleration_raw":0.0,"estimated_torque_nm":9.891797065734863,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019373025745153427,"velocity_rad_s":-0.05436619371175766,"acceleration_raw":0.0,"estimated_torque_nm":0.7583878636360168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011235800571739674,"velocity_rad_s":0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":-2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01558816246688366,"velocity_rad_s":-0.038888562470674515,"acceleration_raw":0.0,"estimated_torque_nm":2.040256977081299,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03611234575510025,"velocity_rad_s":0.019861120730638504,"acceleration_raw":0.0,"estimated_torque_nm":3.4928431510925293,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3047468662261963,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2064642310142517,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049614692106842995,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0012940168380737,"velocity_rad_s":-0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05199955403804779,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.6000000238418579,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.008185225538909435,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14142584800720215,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":6.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.185743510723114,"velocity_rad_s":0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03574894368648529,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7179030179977417,"velocity_rad_s":0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":4.5,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03332813084125519,"velocity_rad_s":-0.19788353145122528,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5462050437927246,"velocity_rad_s":4.71238899230957,"acceleration_raw":0.0,"estimated_torque_nm":2.575000047683716,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05309011787176132,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.3375000059604645,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787854877760,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809893,"imu":{"quaternion":[0.9907124638557434,-0.0007683266885578632,0.007416913751512766,0.13576951622962952],"gyroscope":[-0.05432847887277603,0.06072006747126579,0.029827401041984558],"accelerometer":[0.6239888072013855,0.7110779285430908,10.700285911560059],"rpy":[0.0004916544421575963,0.014905241318047047,0.27239158749580383],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.29969722032546997,"velocity_rad_s":-0.1385355144739151,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015723302960395813,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014637341722846031,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6389967203140259,"velocity_rad_s":0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32957977056503296,"velocity_rad_s":-0.003147163661196828,"acceleration_raw":0.0,"estimated_torque_nm":9.521549224853516,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.023179572075605392,"velocity_rad_s":-0.016745075583457947,"acceleration_raw":0.0,"estimated_torque_nm":-1.7551805973052979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2986745834350586,"velocity_rad_s":0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012544553726911545,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":3.251953125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007700339891016483,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090329885482788,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30918434262275696,"velocity_rad_s":0.04699108004570007,"acceleration_raw":0.0,"estimated_torque_nm":9.891797065734863,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.019358353689312935,"velocity_rad_s":-0.05427290499210358,"acceleration_raw":0.0,"estimated_torque_nm":0.7583878636360168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011409895494580269,"velocity_rad_s":0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":-2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015603340230882168,"velocity_rad_s":-0.03402247652411461,"acceleration_raw":0.0,"estimated_torque_nm":2.090175151824951,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03609275817871094,"velocity_rad_s":0.02179478295147419,"acceleration_raw":0.0,"estimated_torque_nm":3.416804790496826,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30455511808395386,"velocity_rad_s":-0.3712233603000641,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20656010508537292,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":1.0012340545654297,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0520714595913887,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.5874999761581421,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00812530517578125,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14142584800720215,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":6.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18563565611839294,"velocity_rad_s":0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":-1.5625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.035784896463155746,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7180708050727844,"velocity_rad_s":0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":4.5625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.03350789472460747,"velocity_rad_s":-0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.5424899458885193,"velocity_rad_s":4.6817097663879395,"acceleration_raw":0.0,"estimated_torque_nm":2.5374999046325684,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.05300622805953026,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.3499999940395355,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787857902720,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809924,"imu":{"quaternion":[0.9903863668441772,-0.000849412172101438,0.0062742410227656364,0.1381836086511612],"gyroscope":[-0.02556634321808815,-0.02876213565468788,0.22903183102607727],"accelerometer":[0.9103952050209045,0.4156932830810547,10.145429611206055],"rpy":[5.150626748218201e-05,0.012662934139370918,0.27726027369499207],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30164027214050293,"velocity_rad_s":-0.11671890318393707,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01258838176727295,"velocity_rad_s":-0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398830413818359,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293464481830597,"velocity_rad_s":-0.039337292313575745,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.020401904359459877,"velocity_rad_s":-0.17401455342769623,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29920294880867004,"velocity_rad_s":-0.12108222395181656,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012058793567121029,"velocity_rad_s":-0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":-0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091693043708801,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-4.921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30888789892196655,"velocity_rad_s":-0.007226116955280304,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018500028178095818,"velocity_rad_s":-0.02221253514289856,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01598992384970188,"velocity_rad_s":0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.015997756272554398,"velocity_rad_s":-0.017463289201259613,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03549543768167496,"velocity_rad_s":0.03261244297027588,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2925109565258026,"velocity_rad_s":-0.4693981409072876,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20984378457069397,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004601942375302315,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9933364987373352,"velocity_rad_s":-0.47400009632110596,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0520474910736084,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14189322292804718,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":5.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18121346831321716,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03815777227282524,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.748666524887085,"velocity_rad_s":1.5493206977844238,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0484522208571434,"velocity_rad_s":-0.6013205051422119,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.38151779770851135,"velocity_rad_s":5.60823392868042,"acceleration_raw":0.0,"estimated_torque_nm":0.45625001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04734967276453972,"velocity_rad_s":0.4724661111831665,"acceleration_raw":0.0,"estimated_torque_nm":0.08124999701976776,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787858558432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809925,"imu":{"quaternion":[0.9903863668441772,-0.000849412172101438,0.0062742410227656364,0.1381836086511612],"gyroscope":[-0.02556634321808815,-0.02876213565468788,0.22903183102607727],"accelerometer":[0.9103952050209045,0.4156932830810547,10.145429611206055],"rpy":[5.150626748218201e-05,0.012662934139370918,0.27726027369499207],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30176809430122375,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012414286844432354,"velocity_rad_s":-0.16627377271652222,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398830413818359,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293587565422058,"velocity_rad_s":-0.043007802218198776,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.020292948931455612,"velocity_rad_s":-0.17497211694717407,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2994074821472168,"velocity_rad_s":-0.14617133140563965,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012033226899802685,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010030529461801052,"velocity_rad_s":-0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091523170471191,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-4.921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.308887779712677,"velocity_rad_s":-0.005109437275677919,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018485529348254204,"velocity_rad_s":-0.022231575101614,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.016056882217526436,"velocity_rad_s":0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016035715118050575,"velocity_rad_s":-0.029139917343854904,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03547117859125137,"velocity_rad_s":0.028717361390590668,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29192373156547546,"velocity_rad_s":-0.4586602747440338,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20986774563789368,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004601942375302315,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.99297696352005,"velocity_rad_s":-0.4862719178199768,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05199955403804779,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007406251039355993,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1420610100030899,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":5.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18114157021045685,"velocity_rad_s":0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03815777227282524,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.749864935874939,"velocity_rad_s":1.5738643407821655,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.04879976436495781,"velocity_rad_s":-0.575242817401886,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.37725141644477844,"velocity_rad_s":5.645049571990967,"acceleration_raw":0.0,"estimated_torque_nm":0.4124999940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.046918243169784546,"velocity_rad_s":0.5154175758361816,"acceleration_raw":0.0,"estimated_torque_nm":0.05624999850988388,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787860547168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809926,"imu":{"quaternion":[0.9903706908226013,-0.0008531758794561028,0.006247663404792547,0.1382971704006195],"gyroscope":[-0.027696872130036354,-0.029827401041984558,0.2279665619134903],"accelerometer":[0.9103952050209045,0.4156932830810547,10.145429611206055],"rpy":[3.815058880718425e-05,0.012611323036253452,0.2774895131587982],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3018448054790497,"velocity_rad_s":-0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01589374616742134,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":-0.14570382237434387,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398830413818359,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32937106490135193,"velocity_rad_s":-0.03671513497829437,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02021303027868271,"velocity_rad_s":-0.16749167442321777,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29951825737953186,"velocity_rad_s":-0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011965050362050533,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01017784047871828,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091437935829163,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-4.921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.308887779712677,"velocity_rad_s":-0.0019192283507436514,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018485529348254204,"velocity_rad_s":-0.02411673218011856,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.016164017841219902,"velocity_rad_s":0.11142057180404663,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016066109761595726,"velocity_rad_s":-0.03594916686415672,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03547147288918495,"velocity_rad_s":0.028021257370710373,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2916601002216339,"velocity_rad_s":-0.4494563937187195,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2099636197090149,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004589958116412163,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9925814867019653,"velocity_rad_s":-0.4893398880958557,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.051963601261377335,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007406251039355993,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14220482110977173,"velocity_rad_s":0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18100973963737488,"velocity_rad_s":0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0381937250494957,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7510753870010376,"velocity_rad_s":1.5953401327133179,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.04909937083721161,"velocity_rad_s":-0.5506991147994995,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3729730546474457,"velocity_rad_s":5.700273036956787,"acceleration_raw":0.0,"estimated_torque_nm":0.36250001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04647482559084892,"velocity_rad_s":0.5645049810409546,"acceleration_raw":0.0,"estimated_torque_nm":0.03125,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787862759040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809927,"imu":{"quaternion":[0.9903551340103149,-0.000856824335642159,0.0062221563421189785,0.13841021060943604],"gyroscope":[-0.026631608605384827,-0.027696872130036354,0.22690129280090332],"accelerometer":[0.5422866940498352,0.20290859043598175,9.68933391571045],"rpy":[2.530125311750453e-05,0.012561806477606297,0.277717649936676],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30191299319267273,"velocity_rad_s":-0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01588522270321846,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012052706442773342,"velocity_rad_s":-0.1302763670682907,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398830413818359,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32937926054000854,"velocity_rad_s":-0.019934292882680893,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.020111361518502235,"velocity_rad_s":-0.14135104417800903,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29960349202156067,"velocity_rad_s":-0.12980887293815613,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011948006227612495,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010311760008335114,"velocity_rad_s":-0.16627377271652222,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609092652797699,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-4.658203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.308887779712677,"velocity_rad_s":-0.000415255781263113,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018485529348254204,"velocity_rad_s":-0.013919724151492119,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.016230978071689606,"velocity_rad_s":0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":-3.0202414989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016073675826191902,"velocity_rad_s":-0.016481343656778336,"acceleration_raw":0.0,"estimated_torque_nm":2.0877721309661865,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03544691950082779,"velocity_rad_s":0.0395563468337059,"acceleration_raw":0.0,"estimated_torque_nm":3.266946792602539,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29137247800827026,"velocity_rad_s":-0.43718454241752625,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2099875956773758,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004613926634192467,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.991862416267395,"velocity_rad_s":-0.5062136650085449,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05191566422581673,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1423366367816925,"velocity_rad_s":0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":5.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1809018850326538,"velocity_rad_s":0.13805827498435974,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03822967782616615,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7536879181861877,"velocity_rad_s":1.6797090768814087,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.04971056804060936,"velocity_rad_s":-0.5108156204223633,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3684549927711487,"velocity_rad_s":5.700273036956787,"acceleration_raw":0.0,"estimated_torque_nm":0.29374998807907104,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04598347097635269,"velocity_rad_s":0.6013205051422119,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787865029920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809928,"imu":{"quaternion":[0.9903395175933838,-0.0008633541874587536,0.00619915034621954,0.1385221928358078],"gyroscope":[-0.030892664566636086,-0.02237055078148842,0.22477076947689056],"accelerometer":[0.28461071848869324,0.05656301602721214,9.157821655273438],"rpy":[7.41286157790455e-06,0.012518041767179966,0.2779436707496643],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3019641041755676,"velocity_rad_s":-0.07853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01193217933177948,"velocity_rad_s":-0.16970211267471313,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398830413818359,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293587565422058,"velocity_rad_s":-0.02098049968481064,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.020060718059539795,"velocity_rad_s":-0.10234466195106506,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2996802031993866,"velocity_rad_s":-0.12217305600643158,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011896872892975807,"velocity_rad_s":-0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010378719307482243,"velocity_rad_s":-0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090500354766846,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-4.658203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.308887779712677,"velocity_rad_s":0.0005823299288749695,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018485529348254204,"velocity_rad_s":-0.006502852309495211,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.016364896669983864,"velocity_rad_s":0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016104070469737053,"velocity_rad_s":-0.029141610488295555,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03544721379876137,"velocity_rad_s":0.027456538751721382,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29107287526130676,"velocity_rad_s":-0.4279806613922119,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2100355327129364,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004613926634192467,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9914789199829102,"velocity_rad_s":-0.5169515609741211,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05180780589580536,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14251640439033508,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":5.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1808060109615326,"velocity_rad_s":0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03825364634394646,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7549702525138855,"velocity_rad_s":1.6981167793273926,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.050034139305353165,"velocity_rad_s":-0.4954758286476135,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3601139783859253,"velocity_rad_s":5.602097988128662,"acceleration_raw":0.0,"estimated_torque_nm":0.24375000596046448,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.045096639543771744,"velocity_rad_s":0.6135923266410828,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787867084960,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809929,"imu":{"quaternion":[0.9903241991996765,-0.0008711847476661205,0.006180648226290941,0.1386326402425766],"gyroscope":[-0.03195792809128761,-0.013848436065018177,0.22157497704029083],"accelerometer":[0.11851298063993454,0.2819172441959381,9.340977668762207],"rpy":[-1.1832444215542637e-05,0.012483565136790276,0.2781665623188019],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30208343267440796,"velocity_rad_s":-0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011811652220785618,"velocity_rad_s":-0.1714162677526474,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398745179176331,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293546736240387,"velocity_rad_s":-0.014162947423756123,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.02002447471022606,"velocity_rad_s":-0.08649986237287521,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.29984211921691895,"velocity_rad_s":-0.1178097352385521,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01187982875853777,"velocity_rad_s":-0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010472462512552738,"velocity_rad_s":-0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090074181556702,"velocity_rad_s":-0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-4.658203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30887937545776367,"velocity_rad_s":0.0016406698850914836,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01847093552350998,"velocity_rad_s":-0.00651237228885293,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01647203229367733,"velocity_rad_s":0.12856221199035645,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016149621456861496,"velocity_rad_s":-0.0369226410984993,"acceleration_raw":0.0,"estimated_torque_nm":2.0877721309661865,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.035418104380369186,"velocity_rad_s":0.02738146111369133,"acceleration_raw":0.0,"estimated_torque_nm":3.266946792602539,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2905695140361786,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2100594937801361,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004613926634192467,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9911074042320251,"velocity_rad_s":-0.5138835906982422,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0517478846013546,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.4937500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14273212850093842,"velocity_rad_s":0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":5.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18067418038845062,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03832555189728737,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7563005089759827,"velocity_rad_s":1.6889128684997559,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.050285808742046356,"velocity_rad_s":-0.4417864978313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.35567981004714966,"velocity_rad_s":5.565282344818115,"acceleration_raw":0.0,"estimated_torque_nm":0.21250000596046448,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04465322196483612,"velocity_rad_s":0.5767768025398254,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787869077344,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809930,"imu":{"quaternion":[0.9903091192245483,-0.0008814590983092785,0.006166324485093355,0.13874156773090363],"gyroscope":[-0.03621898591518402,-0.0053263213485479355,0.2183791846036911],"accelerometer":[0.25498247146606445,0.6922235488891602,9.564536094665527],"rpy":[-3.478561120573431e-05,0.012458047829568386,0.2783864140510559],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3021601140499115,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01587670110166073,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01158398948609829,"velocity_rad_s":-0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398745179176331,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32933419942855835,"velocity_rad_s":-0.005772409960627556,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.020017379894852638,"velocity_rad_s":-0.0715717077255249,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2999017536640167,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011854262091219425,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010633165016770363,"velocity_rad_s":-0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6089733242988586,"velocity_rad_s":-0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-4.5703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30888766050338745,"velocity_rad_s":0.004309302661567926,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01847102865576744,"velocity_rad_s":-0.009321069344878197,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.016525600105524063,"velocity_rad_s":0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016164805740118027,"velocity_rad_s":-0.0330355130136013,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03540839999914169,"velocity_rad_s":0.02489735744893551,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29028189182281494,"velocity_rad_s":-0.40957289934158325,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21010743081569672,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004613926634192467,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907119274139404,"velocity_rad_s":-0.5062136650085449,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05168796330690384,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.48124998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14285196363925934,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":5.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1804584562778473,"velocity_rad_s":0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03838547319173813,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7574989199638367,"velocity_rad_s":1.6889128684997559,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.050513509660959244,"velocity_rad_s":-0.4080389142036438,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.35148534178733826,"velocity_rad_s":5.571418285369873,"acceleration_raw":0.0,"estimated_torque_nm":0.17499999701976776,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.044209808111190796,"velocity_rad_s":0.5583690404891968,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787871102112,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809931,"imu":{"quaternion":[0.9902942776679993,-0.0008940837578848004,0.006155096460133791,0.13884733617305756],"gyroscope":[-0.04048004373908043,0.0010652643395587802,0.21198759973049164],"accelerometer":[0.25498247146606445,0.6922235488891602,9.564536094665527],"rpy":[-6.15793906035833e-05,0.012439316138625145,0.2785997986793518],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30221977829933167,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01588522270321846,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011490246281027794,"velocity_rad_s":-0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398659944534302,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.329313725233078,"velocity_rad_s":0.005764346104115248,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019981246441602707,"velocity_rad_s":-0.05476117134094238,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.2999614179134369,"velocity_rad_s":-0.11126474291086197,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011811652220785618,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010726908221840858,"velocity_rad_s":-0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6088880896568298,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3088834583759308,"velocity_rad_s":0.002222999930381775,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018463723361492157,"velocity_rad_s":-0.013015225529670715,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.016605950891971588,"velocity_rad_s":0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016179990023374557,"velocity_rad_s":-0.03011847473680973,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0353986956179142,"velocity_rad_s":0.024295100942254066,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2900182604789734,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21010743081569672,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004637895151972771,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9899808764457703,"velocity_rad_s":-0.5154175758361816,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.051604073494672775,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.46875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007382282521575689,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14301975071430206,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":5.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18036259710788727,"velocity_rad_s":0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03840944170951843,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7597998976707458,"velocity_rad_s":1.5999419689178467,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0508490689098835,"velocity_rad_s":-0.33133986592292786,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.34707513451576233,"velocity_rad_s":5.559146404266357,"acceleration_raw":0.0,"estimated_torque_nm":0.15000000596046448,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04380234330892563,"velocity_rad_s":0.5276893973350525,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787873133408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809932,"imu":{"quaternion":[0.9902799725532532,-0.00091063033323735,0.006147332489490509,0.13894949853420258],"gyroscope":[-0.04793689399957657,0.008522114716470242,0.2045307457447052],"accelerometer":[0.19931729137897491,0.8161234855651855,9.577106475830078],"rpy":[-9.522775508230552e-05,0.012428544461727142,0.2788058817386627],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3022879660129547,"velocity_rad_s":-0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011409895494580269,"velocity_rad_s":-0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398659944534302,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32929733395576477,"velocity_rad_s":0.003143131732940674,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019952336326241493,"velocity_rad_s":-0.046421367675065994,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3000040352344513,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011777563951909542,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010807259939610958,"velocity_rad_s":-0.12856221199035645,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6088454723358154,"velocity_rad_s":-0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30888357758522034,"velocity_rad_s":0.005828463938087225,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018478240817785263,"velocity_rad_s":-0.000980658340267837,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01679343730211258,"velocity_rad_s":0.14741799235343933,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016187582165002823,"velocity_rad_s":-0.03012016788125038,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0353938452899456,"velocity_rad_s":0.02303427830338478,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28975459933280945,"velocity_rad_s":-0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21011942625045776,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004637895151972771,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9896573424339294,"velocity_rad_s":-0.4970097839832306,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05137637257575989,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.45625001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1432354599237442,"velocity_rad_s":0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":5.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1802787035703659,"velocity_rad_s":0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03839745745062828,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7609024047851562,"velocity_rad_s":1.5769323110580444,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05095692723989487,"velocity_rad_s":-0.2914563715457916,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.33887794613838196,"velocity_rad_s":5.479379653930664,"acceleration_raw":0.0,"estimated_torque_nm":0.09375,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04290352761745453,"velocity_rad_s":0.6013205051422119,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787878386208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809933,"imu":{"quaternion":[0.9902662634849548,-0.0009282453684136271,0.006143404170870781,0.1390479952096939],"gyroscope":[-0.049002159386873245,0.015978964045643806,0.19707389175891876],"accelerometer":[0.20201076567173004,0.5539584159851074,9.763854026794434],"rpy":[-0.00012997408339288086,0.012425672262907028,0.27900463342666626],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3024413585662842,"velocity_rad_s":-0.12217305600643158,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01587670110166073,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011316152289509773,"velocity_rad_s":-0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398659944534302,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32928913831710815,"velocity_rad_s":0.005765175446867943,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019952401518821716,"velocity_rad_s":-0.041756317019462585,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3000551760196686,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011743474751710892,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01092778705060482,"velocity_rad_s":-0.15941712260246277,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.608802855014801,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30887532234191895,"velocity_rad_s":0.0037573499139398336,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01847814954817295,"velocity_rad_s":-0.006531412713229656,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.016860397532582283,"velocity_rad_s":0.14056134223937988,"acceleration_raw":0.0,"estimated_torque_nm":-3.2439630031585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01621035858988762,"velocity_rad_s":-0.025266336277127266,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03537929058074951,"velocity_rad_s":0.01614668220281601,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28913143277168274,"velocity_rad_s":-0.41724279522895813,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21014338731765747,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004637895151972771,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9893337488174438,"velocity_rad_s":-0.4893398880958557,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.051232561469078064,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":-0.4437499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007406251039355993,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1437867283821106,"velocity_rad_s":0.29759228229522705,"acceleration_raw":0.0,"estimated_torque_nm":5.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1801828294992447,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03838547319173813,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7620648741722107,"velocity_rad_s":1.5815342664718628,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05105280131101608,"velocity_rad_s":-0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.33453965187072754,"velocity_rad_s":5.454835891723633,"acceleration_raw":0.0,"estimated_torque_nm":0.06875000149011612,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04236423596739769,"velocity_rad_s":0.6565437912940979,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787879060256,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809934,"imu":{"quaternion":[0.9902523159980774,-0.0009475371334701777,0.006143217906355858,0.13914649188518524],"gyroscope":[-0.0511326864361763,0.023435814306139946,0.19707389175891876],"accelerometer":[0.20290859043598175,0.4471171796321869,10.326790809631348],"rpy":[-0.00016700020933058113,0.012430684641003609,0.279203325510025],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30250951647758484,"velocity_rad_s":-0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01118223275989294,"velocity_rad_s":-0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398745179176331,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3292686641216278,"velocity_rad_s":0.013106067664921284,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019916286692023277,"velocity_rad_s":-0.041699040681123734,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3000977635383606,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011658254079520702,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011075098067522049,"velocity_rad_s":-0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6087688207626343,"velocity_rad_s":-0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3088836967945099,"velocity_rad_s":-0.00409666309133172,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018492741510272026,"velocity_rad_s":-0.016671301797032356,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01695414073765278,"velocity_rad_s":0.15084631741046906,"acceleration_raw":0.0,"estimated_torque_nm":-3.299893617630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016195148229599,"velocity_rad_s":-0.017481917515397072,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03536929190158844,"velocity_rad_s":0.018743403255939484,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2888917326927185,"velocity_rad_s":-0.41264083981513977,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21014338731765747,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004649879410862923,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9889861941337585,"velocity_rad_s":-0.47860202193260193,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.051064785569906235,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.42500001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14403840899467468,"velocity_rad_s":0.3021942377090454,"acceleration_raw":0.0,"estimated_torque_nm":5.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18007497489452362,"velocity_rad_s":0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03837348893284798,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.763383150100708,"velocity_rad_s":1.6060779094696045,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05113668739795685,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3305369019508362,"velocity_rad_s":5.387340545654297,"acceleration_raw":0.0,"estimated_torque_nm":0.04374999925494194,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0418129600584507,"velocity_rad_s":0.7117671370506287,"acceleration_raw":0.0,"estimated_torque_nm":-0.07500000298023224,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787879692256,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809935,"imu":{"quaternion":[0.9902383685112,-0.0009657025802880526,0.006142748519778252,0.13924606144428253],"gyroscope":[-0.049002159386873245,0.02237055078148842,0.1992044299840927],"accelerometer":[0.2702455222606659,0.4884171485900879,9.947010040283203],"rpy":[-0.00020185996254440397,0.012434831820428371,0.27940425276756287],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30258622765541077,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011088489554822445,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398830413818359,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3292645514011383,"velocity_rad_s":0.006814586464315653,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019894534721970558,"velocity_rad_s":-0.03060111589729786,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3001062870025635,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011624165810644627,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011168841272592545,"velocity_rad_s":-0.15427464246749878,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6086835861206055,"velocity_rad_s":-0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3088754415512085,"velocity_rad_s":-0.0004304446338210255,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018492667004466057,"velocity_rad_s":-0.01206312607973814,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017034491524100304,"velocity_rad_s":0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":-3.299893617630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01621033251285553,"velocity_rad_s":-0.014561490155756474,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03535958752036095,"velocity_rad_s":0.020662790164351463,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2886160910129547,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21011942625045776,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004637895151972771,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9884468913078308,"velocity_rad_s":-0.4448544383049011,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05086105316877365,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-0.4000000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007382282521575689,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14425411820411682,"velocity_rad_s":0.30372822284698486,"acceleration_raw":0.0,"estimated_torque_nm":5.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.18001504242420197,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03839745745062828,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7657320499420166,"velocity_rad_s":1.5968741178512573,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05128049850463867,"velocity_rad_s":-0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3263184726238251,"velocity_rad_s":5.301437854766846,"acceleration_raw":0.0,"estimated_torque_nm":0.05624999850988388,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.041261687874794006,"velocity_rad_s":0.7301748991012573,"acceleration_raw":0.0,"estimated_torque_nm":-0.10625000298023224,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787882683648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809936,"imu":{"quaternion":[0.9902244806289673,-0.0009842085419222713,0.006140715442597866,0.13934452831745148],"gyroscope":[-0.05006742104887962,0.019174758344888687,0.19707389175891876],"accelerometer":[0.2702455222606659,0.4884171485900879,9.947010040283203],"rpy":[-0.0002378430071985349,0.012435982003808022,0.27960288524627686],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3026629388332367,"velocity_rad_s":-0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01588522270321846,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011008137837052345,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398915648460388,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32923588156700134,"velocity_rad_s":0.012057368643581867,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019843975082039833,"velocity_rad_s":-0.041707221418619156,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3000977635383606,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011598599143326283,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01124919205904007,"velocity_rad_s":-0.14570382237434387,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6086409687995911,"velocity_rad_s":-0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30887123942375183,"velocity_rad_s":0.002699009608477354,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018485361710190773,"velocity_rad_s":-0.0065218922682106495,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017195194959640503,"velocity_rad_s":0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":-3.299893617630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01621793769299984,"velocity_rad_s":-0.007757322397083044,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03536458685994148,"velocity_rad_s":0.01757642813026905,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2883404493331909,"velocity_rad_s":-0.40650492906570435,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21014338731765747,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004649879410862923,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9881832599639893,"velocity_rad_s":-0.41724279522895813,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05042961984872818,"velocity_rad_s":-0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007406251039355993,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1444578468799591,"velocity_rad_s":0.30526217818260193,"acceleration_raw":0.0,"estimated_torque_nm":5.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1799311637878418,"velocity_rad_s":0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03843341022729874,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7667866945266724,"velocity_rad_s":1.5569905042648315,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05134041979908943,"velocity_rad_s":-0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.31840887665748596,"velocity_rad_s":5.135767936706543,"acceleration_raw":0.0,"estimated_torque_nm":0.05624999850988388,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.04013517126441002,"velocity_rad_s":0.7547186017036438,"acceleration_raw":0.0,"estimated_torque_nm":-0.13124999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787883334912,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809937,"imu":{"quaternion":[0.9902111291885376,-0.0010005866643041372,0.006134359631687403,0.13943931460380554],"gyroscope":[-0.04687162861227989,0.009587379172444344,0.18961705267429352],"accelerometer":[0.13736732304096222,0.44262802600860596,9.584288597106934],"rpy":[-0.00027086323825642467,0.012427984736859798,0.2797941267490387],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3027992844581604,"velocity_rad_s":-0.11344641447067261,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01588522270321846,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01092778705060482,"velocity_rad_s":-0.11142057180404663,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398915648460388,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3292276859283447,"velocity_rad_s":0.008911983110010624,"acceleration_raw":0.0,"estimated_torque_nm":8.2496976852417,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019829509779810905,"velocity_rad_s":-0.030584750697016716,"acceleration_raw":0.0,"estimated_torque_nm":-2.787200927734375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30012333393096924,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0115559883415699,"velocity_rad_s":-0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011356327682733536,"velocity_rad_s":-0.1628454625606537,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6085898280143738,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-4.5703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30889174342155457,"velocity_rad_s":-0.007332436740398407,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01846381463110447,"velocity_rad_s":-0.009216349571943283,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017262153327465057,"velocity_rad_s":0.12513387203216553,"acceleration_raw":0.0,"estimated_torque_nm":-3.299893617630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01622551679611206,"velocity_rad_s":-0.01067944336682558,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03534988686442375,"velocity_rad_s":0.01439621951431036,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2878251373767853,"velocity_rad_s":-0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21013140678405762,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004637895151972771,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9879555702209473,"velocity_rad_s":-0.39730104804039,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.05018993467092514,"velocity_rad_s":-0.3129321038722992,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14490126073360443,"velocity_rad_s":0.30526217818260193,"acceleration_raw":0.0,"estimated_torque_nm":5.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17987123131752014,"velocity_rad_s":0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.038481347262859344,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7678532600402832,"velocity_rad_s":1.5186409950256348,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05138835683465004,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3147057592868805,"velocity_rad_s":5.037592887878418,"acceleration_raw":0.0,"estimated_torque_nm":0.05624999850988388,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.039559926837682724,"velocity_rad_s":0.7424467206001282,"acceleration_raw":0.0,"estimated_torque_nm":-0.13124999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787886371200,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809938,"imu":{"quaternion":[0.9901988506317139,-0.0010159127414226532,0.006127124652266502,0.13952721655368805],"gyroscope":[-0.04474110156297684,0.0074568502604961395,0.17576861381530762],"accelerometer":[0.3133411407470703,0.456095427274704,9.94162368774414],"rpy":[-0.0003021332377102226,0.012417957186698914,0.27997148036956787],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3028419017791748,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01589374616742134,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010807259939610958,"velocity_rad_s":-0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398915648460388,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-9.84375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.329215407371521,"velocity_rad_s":0.01363130658864975,"acceleration_raw":0.0,"estimated_torque_nm":8.340717315673828,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01982235163450241,"velocity_rad_s":-0.027761174365878105,"acceleration_raw":0.0,"estimated_torque_nm":-2.7356016635894775,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3000977635383606,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011470767669379711,"velocity_rad_s":-0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011503638699650764,"velocity_rad_s":-0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6085557341575623,"velocity_rad_s":-0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30887532234191895,"velocity_rad_s":-0.001088717021048069,"acceleration_raw":0.0,"estimated_torque_nm":7.430690765380859,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01847814954817295,"velocity_rad_s":0.0037227156572043896,"acceleration_raw":0.0,"estimated_torque_nm":0.26734739542007446,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017355896532535553,"velocity_rad_s":0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":-3.299893617630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016233108937740326,"velocity_rad_s":-0.014573345892131329,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.035345032811164856,"velocity_rad_s":0.011837037280201912,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28753751516342163,"velocity_rad_s":-0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21014338731765747,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004649879410862923,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9877638220787048,"velocity_rad_s":-0.3666214346885681,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04998620226979256,"velocity_rad_s":-0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-0.36250001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14517690241336823,"velocity_rad_s":0.3221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":5.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1796794831752777,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.038601189851760864,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7688239812850952,"velocity_rad_s":1.4741555452346802,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05140034109354019,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.3107150197029114,"velocity_rad_s":5.006913661956787,"acceleration_raw":0.0,"estimated_torque_nm":0.03125,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.039020638912916183,"velocity_rad_s":0.748582661151886,"acceleration_raw":0.0,"estimated_torque_nm":-0.14374999701976776,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787887041408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809939,"imu":{"quaternion":[0.9901869893074036,-0.0010296952677890658,0.00611905800178647,0.1396113783121109],"gyroscope":[-0.041545309126377106,0.0053263213485479355,0.16831175982952118],"accelerometer":[0.3097498416900635,0.3555389642715454,9.78719711303711],"rpy":[-0.0003306268772576004,0.01240585558116436,0.28014126420021057],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3028845191001892,"velocity_rad_s":-0.09162978827953339,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01589374616742134,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010726908221840858,"velocity_rad_s":-0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6399000883102417,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32919901609420776,"velocity_rad_s":0.01939861662685871,"acceleration_raw":0.0,"estimated_torque_nm":8.067659378051758,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019778931513428688,"velocity_rad_s":-0.03607643395662308,"acceleration_raw":0.0,"estimated_torque_nm":-2.89039945602417,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30007219314575195,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011402590200304985,"velocity_rad_s":-0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":4.74609375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01159738190472126,"velocity_rad_s":-0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6084960699081421,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3088795244693756,"velocity_rad_s":0.0016558583592996001,"acceleration_raw":0.0,"estimated_torque_nm":6.889904975891113,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018485454842448235,"velocity_rad_s":-0.008368969894945621,"acceleration_raw":0.0,"estimated_torque_nm":0.5727603435516357,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017436247318983078,"velocity_rad_s":0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":-3.3558239936828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016210278496146202,"velocity_rad_s":-0.0009463790920563042,"acceleration_raw":0.0,"estimated_torque_nm":2.0377519130706787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03532018885016441,"velocity_rad_s":0.019533352926373482,"acceleration_raw":0.0,"estimated_torque_nm":3.34305477142334,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28726187348365784,"velocity_rad_s":-0.401902973651886,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21014338731765747,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004661863669753075,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9873204231262207,"velocity_rad_s":-0.34821364283561707,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04977048560976982,"velocity_rad_s":-0.29452431201934814,"acceleration_raw":0.0,"estimated_torque_nm":-0.36250001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007406251039355993,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14550048112869263,"velocity_rad_s":0.3604854941368103,"acceleration_raw":0.0,"estimated_torque_nm":5.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17957162857055664,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03869706392288208,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7710291147232056,"velocity_rad_s":1.448077917098999,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0514482781291008,"velocity_rad_s":-0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.30697593092918396,"velocity_rad_s":5.006913661956787,"acceleration_raw":0.0,"estimated_torque_nm":0.01875000074505806,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.03840944170951843,"velocity_rad_s":0.7608544826507568,"acceleration_raw":0.0,"estimated_torque_nm":-0.15625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787888670752,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809939,"imu":{"quaternion":[0.9901869893074036,-0.0010296952677890658,0.00611905800178647,0.1396113783121109],"gyroscope":[-0.041545309126377106,0.0053263213485479355,0.16831175982952118],"accelerometer":[0.3097498416900635,0.3555389642715454,9.78719711303711],"rpy":[-0.0003306268772576004,0.01240585558116436,0.28014126420021057],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30295267701148987,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01589374616742134,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010673340409994125,"velocity_rad_s":-0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398915648460388,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-10.01953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32919082045555115,"velocity_rad_s":0.012057961896061897,"acceleration_raw":0.0,"estimated_torque_nm":7.6101484298706055,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019735466688871384,"velocity_rad_s":-0.032418038696050644,"acceleration_raw":0.0,"estimated_torque_nm":-2.8387651443481445,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30008071660995483,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011359979398548603,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":4.921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011650948785245419,"velocity_rad_s":-0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6084364056587219,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-5.009765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3089247941970825,"velocity_rad_s":-0.02001732774078846,"acceleration_raw":0.0,"estimated_torque_nm":5.982091426849365,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018464094027876854,"velocity_rad_s":-0.010958707891404629,"acceleration_raw":0.0,"estimated_torque_nm":0.35877564549446106,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017516599968075752,"velocity_rad_s":0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":-3.3558239936828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016179870814085007,"velocity_rad_s":0.0009954924462363124,"acceleration_raw":0.0,"estimated_torque_nm":2.187812566757202,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0353100448846817,"velocity_rad_s":0.01703047938644886,"acceleration_raw":0.0,"estimated_torque_nm":3.1147310733795166,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.287022203207016,"velocity_rad_s":-0.38196122646331787,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21014338731765747,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004649879410862923,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9871046543121338,"velocity_rad_s":-0.3528155982494354,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.04926715046167374,"velocity_rad_s":-0.3190680146217346,"acceleration_raw":0.0,"estimated_torque_nm":-0.3375000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":0.3712233603000641,"acceleration_raw":0.0,"estimated_torque_nm":4.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17945179343223572,"velocity_rad_s":0.1457281857728958,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03876896947622299,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7721796035766602,"velocity_rad_s":1.4864274263381958,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.051472246646881104,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.299054354429245,"velocity_rad_s":5.154175758361816,"acceleration_raw":0.0,"estimated_torque_nm":-0.11874999850988388,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.03723498806357384,"velocity_rad_s":0.7853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787876953248,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 29831, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":29831,"self_proximity2":0,"status":33024,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":23808,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":20736,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":20736,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":34304,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0}],"touch_metric":0.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":787891907264,"stream":"brainco.motor","data":{"currents":[9,-101,16,2,-16,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [9, -101, 16, 2, -16, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":787892404064,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":0.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.03875707304526749}} +{"timestamp_monotonic_ns":787892529152,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809940,"imu":{"quaternion":[0.9901642203330994,-0.00105399324093014,0.006101442966610193,0.13977275788784027],"gyroscope":[-0.03621898591518402,0.0031957929022610188,0.15978965163230896],"accelerometer":[0.17328034341335297,0.1041477769613266,9.947908401489258],"rpy":[-0.0003816509270109236,0.012377815321087837,0.28046685457229614],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3030208647251129,"velocity_rad_s":-0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01588522270321846,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0105929896235466,"velocity_rad_s":-0.08913645893335342,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398915648460388,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32919904589653015,"velocity_rad_s":0.004716713447123766,"acceleration_raw":0.0,"estimated_torque_nm":7.519129276275635,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0197063647210598,"velocity_rad_s":-0.03804882615804672,"acceleration_raw":0.0,"estimated_torque_nm":-2.890364408493042,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3000636696815491,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011291802860796452,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":5.009765625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011731300503015518,"velocity_rad_s":-0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6084108352661133,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-5.09765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3089413344860077,"velocity_rad_s":-0.025248274207115173,"acceleration_raw":0.0,"estimated_torque_nm":5.891031265258789,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018464243039488792,"velocity_rad_s":-0.01833750121295452,"acceleration_raw":0.0,"estimated_torque_nm":0.306391179561615,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017677301540970802,"velocity_rad_s":0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":-3.3558239936828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016103897243738174,"velocity_rad_s":0.03307785466313362,"acceleration_raw":0.0,"estimated_torque_nm":2.187812566757202,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03531916067004204,"velocity_rad_s":0.006623187568038702,"acceleration_raw":0.0,"estimated_torque_nm":3.1147310733795166,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28648290038108826,"velocity_rad_s":-0.39730104804039,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21011942625045776,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004649879410862923,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9868889451026917,"velocity_rad_s":-0.33900976181030273,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.049015481024980545,"velocity_rad_s":-0.3067961633205414,"acceleration_raw":0.0,"estimated_torque_nm":-0.3375000059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14636334776878357,"velocity_rad_s":0.36968937516212463,"acceleration_raw":0.0,"estimated_torque_nm":4.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1793559193611145,"velocity_rad_s":0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03882889077067375,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.773473858833313,"velocity_rad_s":1.5339808464050293,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.051484230905771255,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2950636148452759,"velocity_rad_s":5.246214389801025,"acceleration_raw":0.0,"estimated_torque_nm":-0.22499999403953552,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.03653990104794502,"velocity_rad_s":0.8160778284072876,"acceleration_raw":0.0,"estimated_torque_nm":-0.19374999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787893190208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809941,"imu":{"quaternion":[0.9901534914970398,-0.001063742907717824,0.006091517396271229,0.1398494392633438],"gyroscope":[-0.03195792809128761,-0.0,0.1533980667591095],"accelerometer":[0.2397194504737854,-0.03860650211572647,9.732429504394531],"rpy":[-0.00040277771768160164,0.012360917404294014,0.28062161803245544],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30304643511772156,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01588522270321846,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010472462512552738,"velocity_rad_s":-0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398745179176331,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.329215407371521,"velocity_rad_s":-0.0026240600273013115,"acceleration_raw":0.0,"estimated_torque_nm":7.6101484298706055,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019691726192831993,"velocity_rad_s":-0.03624827042222023,"acceleration_raw":0.0,"estimated_torque_nm":-2.8387651443481445,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3000636696815491,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0112236263230443,"velocity_rad_s":-0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":5.009765625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011798259802162647,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6083341836929321,"velocity_rad_s":-0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-5.009765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3089703321456909,"velocity_rad_s":-0.030048774555325508,"acceleration_raw":0.0,"estimated_torque_nm":5.800900459289551,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018471771851181984,"velocity_rad_s":-0.013653166592121124,"acceleration_raw":0.0,"estimated_torque_nm":0.35729333758354187,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017771044746041298,"velocity_rad_s":0.14056134223937988,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.016012700274586678,"velocity_rad_s":0.0525287389755249,"acceleration_raw":0.0,"estimated_torque_nm":2.1377923488616943,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03530843183398247,"velocity_rad_s":0.00555005669593811,"acceleration_raw":0.0,"estimated_torque_nm":3.1908388137817383,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28625521063804626,"velocity_rad_s":-0.3834952116012573,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21014338731765747,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004649879410862923,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9866852164268494,"velocity_rad_s":-0.3298058807849884,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.048715874552726746,"velocity_rad_s":-0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":-0.3187499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007382282521575689,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14656707644462585,"velocity_rad_s":0.34514570236206055,"acceleration_raw":0.0,"estimated_torque_nm":4.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17911623418331146,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03886484354734421,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7747442126274109,"velocity_rad_s":1.5769323110580444,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.051472246646881104,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.2907373011112213,"velocity_rad_s":5.338253498077393,"acceleration_raw":0.0,"estimated_torque_nm":-0.2874999940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.03594069182872772,"velocity_rad_s":0.8160778284072876,"acceleration_raw":0.0,"estimated_torque_nm":-0.19374999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787895115264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809942,"imu":{"quaternion":[0.9901534914970398,-0.001063742907717824,0.006091517396271229,0.1398494392633438],"gyroscope":[-0.03195792809128761,-0.0,0.1533980667591095],"accelerometer":[0.2397194504737854,-0.03860650211572647,9.732429504394531],"rpy":[-0.00040277771768160164,0.012360917404294014,0.28062161803245544],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30305495858192444,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015868179500102997,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010392110794782639,"velocity_rad_s":-0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6398830413818359,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.329215407371521,"velocity_rad_s":-0.0010519011411815882,"acceleration_raw":0.0,"estimated_torque_nm":7.519129276275635,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01963365077972412,"velocity_rad_s":-0.050169769674539566,"acceleration_raw":0.0,"estimated_torque_nm":-2.890364408493042,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30008071660995483,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011172492988407612,"velocity_rad_s":-0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":4.921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011838436126708984,"velocity_rad_s":-0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6082574725151062,"velocity_rad_s":-0.08617563545703888,"acceleration_raw":0.0,"estimated_torque_nm":-5.009765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.308986634016037,"velocity_rad_s":-0.03313266485929489,"acceleration_raw":0.0,"estimated_torque_nm":5.800900459289551,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018442902714014053,"velocity_rad_s":-0.02476419322192669,"acceleration_raw":0.0,"estimated_torque_nm":0.35729333758354187,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017851397395133972,"velocity_rad_s":0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01595192402601242,"velocity_rad_s":0.06419181823730469,"acceleration_raw":0.0,"estimated_torque_nm":2.0892393589019775,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03531769663095474,"velocity_rad_s":-0.000641435501165688,"acceleration_raw":0.0,"estimated_torque_nm":3.114863395690918,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28597956895828247,"velocity_rad_s":-0.3804272413253784,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21013140678405762,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004649879410862923,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9862537980079651,"velocity_rad_s":-0.32827189564704895,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0484522208571434,"velocity_rad_s":-0.38656318187713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.3187499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.14677080512046814,"velocity_rad_s":0.33440783619880676,"acceleration_raw":0.0,"estimated_torque_nm":4.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1789844036102295,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03887682780623436,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.7772249579429626,"velocity_rad_s":1.592272162437439,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.051484230905771255,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.28663870692253113,"velocity_rad_s":5.424156188964844,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.03532949462532997,"velocity_rad_s":0.7915341258049011,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787897023136,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809973,"imu":{"quaternion":[0.9900664687156677,-0.0010600041132420301,0.006064028944820166,0.14046582579612732],"gyroscope":[-0.008522114716470242,0.07137271016836166,-0.0372842513024807],"accelerometer":[0.09247604012489319,0.29897594451904297,10.086173057556152],"rpy":[-0.0003954013518523425,0.01230568252503872,0.28186678886413574],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30465710163116455,"velocity_rad_s":-0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015740348026156425,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010030529461801052,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6399597525596619,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3292810022830963,"velocity_rad_s":-0.015207023359835148,"acceleration_raw":0.0,"estimated_torque_nm":6.512282371520996,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01903805322945118,"velocity_rad_s":-0.014052420854568481,"acceleration_raw":0.0,"estimated_torque_nm":-2.735485076904297,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3016147017478943,"velocity_rad_s":-0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00977486651390791,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011704516597092152,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6072092652320862,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-6.943359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093341290950775,"velocity_rad_s":-0.013039392419159412,"acceleration_raw":0.0,"estimated_torque_nm":4.351372241973877,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01847502589225769,"velocity_rad_s":-0.023088473826646805,"acceleration_raw":0.0,"estimated_torque_nm":0.3454349637031555,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.018855789676308632,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-2.7405896186828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.013594461604952812,"velocity_rad_s":0.11484792828559875,"acceleration_raw":0.0,"estimated_torque_nm":1.4114607572555542,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03365553542971611,"velocity_rad_s":0.08644204586744308,"acceleration_raw":0.0,"estimated_torque_nm":2.360410213470459,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28265994787216187,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20865733921527863,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789314270019531,"velocity_rad_s":-0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03538941591978073,"velocity_rad_s":-0.5338253378868103,"acceleration_raw":0.0,"estimated_torque_nm":-0.10625000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.16643692553043365,"velocity_rad_s":0.9418642520904541,"acceleration_raw":0.0,"estimated_torque_nm":2.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1751614362001419,"velocity_rad_s":0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04030295088887215,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8164852857589722,"velocity_rad_s":1.2072429656982422,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.055151402950286865,"velocity_rad_s":-0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.14728613197803497,"velocity_rad_s":3.712233543395996,"acceleration_raw":0.0,"estimated_torque_nm":-0.981249988079071,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.022829949855804443,"velocity_rad_s":0.503145694732666,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787898922976,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809974,"imu":{"quaternion":[0.9900692105293274,-0.0010676573729142547,0.006089136004447937,0.14044484496116638],"gyroscope":[-0.010652642697095871,0.06604638695716858,-0.04367583617568016],"accelerometer":[0.09247604012489319,0.29897594451904297,10.086173057556152],"rpy":[-0.0004037647449877113,0.012357541359961033,0.2818243205547333],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30470824241638184,"velocity_rad_s":-0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01576591283082962,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010057313367724419,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6399597525596619,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3292850852012634,"velocity_rad_s":-0.014682614244520664,"acceleration_raw":0.0,"estimated_torque_nm":6.512282371520996,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019030766561627388,"velocity_rad_s":-0.013119411654770374,"acceleration_raw":0.0,"estimated_torque_nm":-2.735485076904297,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30168288946151733,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009749299846589565,"velocity_rad_s":-0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011691125109791756,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6071751713752747,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093300759792328,"velocity_rad_s":-0.008345210924744606,"acceleration_raw":0.0,"estimated_torque_nm":4.351372241973877,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018482239916920662,"velocity_rad_s":-0.0147766238078475,"acceleration_raw":0.0,"estimated_torque_nm":0.3454349637031555,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01881561428308487,"velocity_rad_s":-0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":-2.7405896186828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.013480416499078274,"velocity_rad_s":0.1265220046043396,"acceleration_raw":0.0,"estimated_torque_nm":1.4613358974456787,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03358093276619911,"velocity_rad_s":0.09030613303184509,"acceleration_raw":0.0,"estimated_torque_nm":2.2841637134552,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28265994787216187,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20862139761447906,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9787996411323547,"velocity_rad_s":-0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.034993939101696014,"velocity_rad_s":-0.5215535163879395,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.16723985970020294,"velocity_rad_s":0.9648739695549011,"acceleration_raw":0.0,"estimated_torque_nm":2.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1751134991645813,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04027898237109184,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8180432319641113,"velocity_rad_s":1.1351457834243774,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.055211324244737625,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.14452975988388062,"velocity_rad_s":3.6999619007110596,"acceleration_raw":0.0,"estimated_torque_nm":-0.96875,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.022482406347990036,"velocity_rad_s":0.4970097839832306,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787900824512,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809975,"imu":{"quaternion":[0.9900761246681213,-0.0010861048940569162,0.006133494433015585,0.14039452373981476],"gyroscope":[-0.013848436065018177,0.05858953669667244,-0.05326321721076965],"accelerometer":[-0.1885433793067932,0.14275427162647247,10.212766647338867],"rpy":[-0.000428468338213861,0.01245054043829441,0.2817226052284241],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3047338128089905,"velocity_rad_s":-0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0157744362950325,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010057313367724419,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6399682760238647,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32928919792175293,"velocity_rad_s":-0.012585691176354885,"acceleration_raw":0.0,"estimated_torque_nm":6.512282371520996,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019008969888091087,"velocity_rad_s":-0.020534392446279526,"acceleration_raw":0.0,"estimated_torque_nm":-2.735485076904297,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3017340302467346,"velocity_rad_s":-0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009740778245031834,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011664341203868389,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6071666479110718,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093341290950775,"velocity_rad_s":-0.005200568586587906,"acceleration_raw":0.0,"estimated_torque_nm":4.351372241973877,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01847502589225769,"velocity_rad_s":-0.011091988533735275,"acceleration_raw":0.0,"estimated_torque_nm":0.3454349637031555,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.018775437027215958,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.01335876900702715,"velocity_rad_s":0.12750068306922913,"acceleration_raw":0.0,"estimated_torque_nm":1.412624716758728,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.033501360565423965,"velocity_rad_s":0.09597598761320114,"acceleration_raw":0.0,"estimated_torque_nm":2.2080249786376953,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2826958894729614,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20852552354335785,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9787396788597107,"velocity_rad_s":-0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03425091505050659,"velocity_rad_s":-0.503145694732666,"acceleration_raw":0.0,"estimated_torque_nm":-0.08124999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00760998297482729,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.16799487173557281,"velocity_rad_s":0.9848157167434692,"acceleration_raw":0.0,"estimated_torque_nm":2.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1750655621290207,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04027898237109184,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8187742233276367,"velocity_rad_s":1.101398229598999,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05523529276251793,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.13882526755332947,"velocity_rad_s":3.6447384357452393,"acceleration_raw":0.0,"estimated_torque_nm":-1.006250023841858,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.02183525823056698,"velocity_rad_s":0.41724279522895813,"acceleration_raw":0.0,"estimated_torque_nm":-0.16875000298023224,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787902701408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809976,"imu":{"quaternion":[0.9900761246681213,-0.0010861048940569162,0.006133494433015585,0.14039452373981476],"gyroscope":[-0.013848436065018177,0.05858953669667244,-0.05326321721076965],"accelerometer":[-0.1885433793067932,0.14275427162647247,10.212766647338867],"rpy":[-0.000428468338213861,0.01245054043829441,0.2817226052284241],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3048190176486969,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015782957896590233,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010097489692270756,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6399853229522705,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32930147647857666,"velocity_rad_s":-0.013634152710437775,"acceleration_raw":0.0,"estimated_torque_nm":6.512282371520996,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019001619890332222,"velocity_rad_s":-0.016826901584863663,"acceleration_raw":0.0,"estimated_torque_nm":-2.735485076904297,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30181923508644104,"velocity_rad_s":-0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009740778245031834,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011637557297945023,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.607149600982666,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093300759792328,"velocity_rad_s":-0.004709369968622923,"acceleration_raw":0.0,"estimated_torque_nm":4.351372241973877,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018482239916920662,"velocity_rad_s":-0.006455252878367901,"acceleration_raw":0.0,"estimated_torque_nm":0.3454349637031555,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01865491084754467,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-2.7405896186828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.013221902772784233,"velocity_rad_s":0.13529179990291595,"acceleration_raw":0.0,"estimated_torque_nm":1.3156150579452515,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03340205177664757,"velocity_rad_s":0.10348707437515259,"acceleration_raw":0.0,"estimated_torque_nm":2.2081310749053955,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2827558219432831,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20841765403747559,"velocity_rad_s":-0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9786917567253113,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03380750119686127,"velocity_rad_s":-0.5460971593856812,"acceleration_raw":0.0,"estimated_torque_nm":-0.08124999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.16963671147823334,"velocity_rad_s":1.0293011665344238,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17501762509346008,"velocity_rad_s":0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04026699811220169,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8195172548294067,"velocity_rad_s":1.0676506757736206,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05528322979807854,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.135949045419693,"velocity_rad_s":3.620194911956787,"acceleration_raw":0.0,"estimated_torque_nm":-1.024999976158142,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.021571604534983635,"velocity_rad_s":0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.15625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787904584320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809977,"imu":{"quaternion":[0.9900797009468079,-0.001090334146283567,0.006155283655971289,0.14036767184734344],"gyroscope":[-0.004261057358235121,0.056459009647369385,-0.05539374426007271],"accelerometer":[-0.18136078119277954,0.049380410462617874,10.164283752441406],"rpy":[-0.0004310632648412138,0.012494863010942936,0.28166836500167847],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3048531115055084,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015782957896590233,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010137665085494518,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6399853229522705,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32929739356040955,"velocity_rad_s":-0.007866605184972286,"acceleration_raw":0.0,"estimated_torque_nm":6.512282371520996,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018994396552443504,"velocity_rad_s":-0.0214264877140522,"acceleration_raw":0.0,"estimated_torque_nm":-2.735485076904297,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3018703758716583,"velocity_rad_s":-0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009732255712151527,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011557205580174923,"velocity_rad_s":0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6071240305900574,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.119140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30932191014289856,"velocity_rad_s":-0.002577501581981778,"acceleration_raw":0.0,"estimated_torque_nm":4.351372241973877,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0184966828674078,"velocity_rad_s":-0.008330890908837318,"acceleration_raw":0.0,"estimated_torque_nm":0.3454349637031555,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.018614735454320908,"velocity_rad_s":-0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.012940587475895882,"velocity_rad_s":0.16935253143310547,"acceleration_raw":0.0,"estimated_torque_nm":1.2180839776992798,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03321824222803116,"velocity_rad_s":0.12448453903198242,"acceleration_raw":0.0,"estimated_torque_nm":2.0558536052703857,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2827797830104828,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2082139253616333,"velocity_rad_s":-0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9786438345909119,"velocity_rad_s":-0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03341202065348625,"velocity_rad_s":-0.5338253378868103,"acceleration_raw":0.0,"estimated_torque_nm":-0.06875000149011612,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17043964564800262,"velocity_rad_s":1.0461748838424683,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17494572699069977,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04026699811220169,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.820236325263977,"velocity_rad_s":1.0492428541183472,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05528322979807854,"velocity_rad_s":-0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.13328854739665985,"velocity_rad_s":3.558835506439209,"acceleration_raw":0.0,"estimated_torque_nm":-1.024999976158142,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.021224062889814377,"velocity_rad_s":0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":-0.15625,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787906176512,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809978,"imu":{"quaternion":[0.9900836944580078,-0.0010901259956881404,0.006175335496664047,0.1403387039899826],"gyroscope":[0.004261057358235121,0.0511326864361763,-0.059654802083969116],"accelerometer":[-0.21458032727241516,0.08170213550329208,9.833884239196777],"rpy":[-0.00042538836714811623,0.01253450009971857,0.2816098928451538],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3049042522907257,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015800001099705696,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01017784047871828,"velocity_rad_s":0.07542315870523453,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640019416809082,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32930558919906616,"velocity_rad_s":-0.009439120069146156,"acceleration_raw":0.0,"estimated_torque_nm":6.512282371520996,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01897980459034443,"velocity_rad_s":-0.013078498654067516,"acceleration_raw":0.0,"estimated_torque_nm":-2.735485076904297,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30190446972846985,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00971521157771349,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011503638699650764,"velocity_rad_s":0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6071155071258545,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.03125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093300759792328,"velocity_rad_s":-0.0009975858265534043,"acceleration_raw":0.0,"estimated_torque_nm":4.080979347229004,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018482239916920662,"velocity_rad_s":-0.007416871376335621,"acceleration_raw":0.0,"estimated_torque_nm":0.49814143776893616,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.018561167642474174,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-2.6287286281585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.012826518155634403,"velocity_rad_s":0.1635202020406723,"acceleration_raw":0.0,"estimated_torque_nm":1.2180839776992798,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03312406316399574,"velocity_rad_s":0.1269608587026596,"acceleration_raw":0.0,"estimated_torque_nm":2.0558536052703857,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28281572461128235,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20811805129051208,"velocity_rad_s":-0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9785359501838684,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03298058733344078,"velocity_rad_s":-0.5399612784385681,"acceleration_raw":0.0,"estimated_torque_nm":-0.05624999850988388,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17127855122089386,"velocity_rad_s":1.06918466091156,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1748857945203781,"velocity_rad_s":0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04026699811220169,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8216984272003174,"velocity_rad_s":1.0170292854309082,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05530719831585884,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.13074789941310883,"velocity_rad_s":3.4483890533447266,"acceleration_raw":0.0,"estimated_torque_nm":-1.006250023841858,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.020900487899780273,"velocity_rad_s":0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":-0.16875000298023224,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787908052096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809979,"imu":{"quaternion":[0.9900877475738525,-0.0010900242486968637,0.006195662543177605,0.140309676527977],"gyroscope":[0.004261057358235121,0.0511326864361763,-0.059654802083969116],"accelerometer":[-0.21458032727241516,0.08170213550329208,9.833884239196777],"rpy":[-0.00041984961717389524,0.012574712745845318,0.281551331281662],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30492982268333435,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0157744362950325,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010164448991417885,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6400279402732849,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293260633945465,"velocity_rad_s":-0.011011871509253979,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018986918032169342,"velocity_rad_s":-0.008446180261671543,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30193856358528137,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009706689044833183,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011450070887804031,"velocity_rad_s":0.0857081338763237,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6071069836616516,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30935078859329224,"velocity_rad_s":-0.004770123865455389,"acceleration_raw":0.0,"estimated_torque_nm":3.62660813331604,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018489694222807884,"velocity_rad_s":0.0009711386519484222,"acceleration_raw":0.0,"estimated_torque_nm":0.33950579166412354,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01850759983062744,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.012704867869615555,"velocity_rad_s":0.1586514413356781,"acceleration_raw":0.0,"estimated_torque_nm":1.219137191772461,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03304458037018776,"velocity_rad_s":0.12126482278108597,"acceleration_raw":0.0,"estimated_torque_nm":1.9034682512283325,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28281572461128235,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20801019668579102,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9785000085830688,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.032165661454200745,"velocity_rad_s":-0.5338253378868103,"acceleration_raw":0.0,"estimated_torque_nm":-0.05624999850988388,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007574030198156834,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17212942242622375,"velocity_rad_s":1.0921943187713623,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17484985291957855,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04026699811220169,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8223934769630432,"velocity_rad_s":1.0078253746032715,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.055331166833639145,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.12564261257648468,"velocity_rad_s":3.2949907779693604,"acceleration_raw":0.0,"estimated_torque_nm":-0.981249988079071,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.020564930513501167,"velocity_rad_s":0.4356505572795868,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787910190912,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809980,"imu":{"quaternion":[0.990092933177948,-0.001090636826120317,0.006209190469235182,0.14027167856693268],"gyroscope":[0.0010652643395587802,0.0372842513024807,-0.07776429504156113],"accelerometer":[-0.22355858981609344,0.22355858981609344,9.622895240783691],"rpy":[-0.0004177497758064419,0.012601655907928944,0.28147462010383606],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30498945713043213,"velocity_rad_s":-0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0157744362950325,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010191232897341251,"velocity_rad_s":0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6400449275970459,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293219804763794,"velocity_rad_s":-0.00943888258188963,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018994204699993134,"velocity_rad_s":-0.009362826123833656,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3020237684249878,"velocity_rad_s":-0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009706689044833183,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011396503075957298,"velocity_rad_s":0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6070984601974487,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093920350074768,"velocity_rad_s":-0.025785038247704506,"acceleration_raw":0.0,"estimated_torque_nm":3.62660813331604,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018475547432899475,"velocity_rad_s":-0.01740444265305996,"acceleration_raw":0.0,"estimated_torque_nm":0.33950579166412354,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.018360288813710213,"velocity_rad_s":-0.12513387203216553,"acceleration_raw":0.0,"estimated_torque_nm":-2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.012575613334774971,"velocity_rad_s":0.16739237308502197,"acceleration_raw":0.0,"estimated_torque_nm":1.219137191772461,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03296012803912163,"velocity_rad_s":0.110629603266716,"acceleration_raw":0.0,"estimated_torque_nm":1.9034682512283325,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2828516960144043,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2078903615474701,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784640669822693,"velocity_rad_s":-0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03177018091082573,"velocity_rad_s":-0.5215535163879395,"acceleration_raw":0.0,"estimated_torque_nm":-0.05624999850988388,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.173939049243927,"velocity_rad_s":1.1382137537002563,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1748138964176178,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04025501385331154,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8230646252632141,"velocity_rad_s":0.9894176721572876,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05535513535141945,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.12319783866405487,"velocity_rad_s":3.2888548374176025,"acceleration_raw":0.0,"estimated_torque_nm":-0.9937499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.019869845360517502,"velocity_rad_s":0.44792240858078003,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787912074528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809981,"imu":{"quaternion":[0.990098774433136,-0.001092719379812479,0.006217866204679012,0.14023056626319885],"gyroscope":[-0.0031957929022610188,0.027696872130036354,-0.08415587991476059],"accelerometer":[-0.166995570063591,0.19482816755771637,9.857227325439453],"rpy":[-0.0004199638788122684,0.01261940412223339,0.28139156103134155],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30502355098724365,"velocity_rad_s":-0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015782957896590233,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010231408290565014,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6400704979896545,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.329330176115036,"velocity_rad_s":-0.00891388114541769,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01900865137577057,"velocity_rad_s":0.0008593669044785202,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30209195613861084,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009664079174399376,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011235800571739674,"velocity_rad_s":0.11999139189720154,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.607081413269043,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30942103266716003,"velocity_rad_s":-0.027932094410061836,"acceleration_raw":0.0,"estimated_torque_nm":3.535547971725464,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018483076244592667,"velocity_rad_s":-0.013672206550836563,"acceleration_raw":0.0,"estimated_torque_nm":0.28712132573127747,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.018279938027262688,"velocity_rad_s":-0.13713301718235016,"acceleration_raw":0.0,"estimated_torque_nm":-2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.012309524230659008,"velocity_rad_s":0.1761484444141388,"acceleration_raw":0.0,"estimated_torque_nm":1.170371651649475,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0328059159219265,"velocity_rad_s":0.1138358861207962,"acceleration_raw":0.0,"estimated_torque_nm":1.8273295164108276,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28288763761520386,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20771059393882751,"velocity_rad_s":-0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784401059150696,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.03139866888523102,"velocity_rad_s":-0.4970097839832306,"acceleration_raw":0.0,"estimated_torque_nm":-0.06875000149011612,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17480191588401794,"velocity_rad_s":1.1581555604934692,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1747659593820572,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04027898237109184,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8237956166267395,"velocity_rad_s":0.9664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.055391088128089905,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.12057328969240189,"velocity_rad_s":3.2949907779693604,"acceleration_raw":0.0,"estimated_torque_nm":-1.037500023841858,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.019534287974238396,"velocity_rad_s":0.46019425988197327,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787913671520,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809982,"imu":{"quaternion":[0.9901050329208374,-0.0010986761189997196,0.006223336793482304,0.14018583297729492],"gyroscope":[-0.011717907153069973,0.02237055078148842,-0.09161273390054703],"accelerometer":[-0.02693476900458336,0.1975216418504715,10.247781753540039],"rpy":[-0.00043079667375423014,0.012631888501346111,0.2813011407852173],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30506616830825806,"velocity_rad_s":-0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01581704616546631,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01024479977786541,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640113115310669,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293383717536926,"velocity_rad_s":-0.009438645094633102,"acceleration_raw":0.0,"estimated_torque_nm":6.23600435256958,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018994076177477837,"velocity_rad_s":-0.005647152196615934,"acceleration_raw":0.0,"estimated_torque_nm":-2.4774420261383057,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30212604999542236,"velocity_rad_s":-0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009647035039961338,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011168841272592545,"velocity_rad_s":0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6070387959480286,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30947914719581604,"velocity_rad_s":-0.03057035058736801,"acceleration_raw":0.0,"estimated_torque_nm":3.535547971725464,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018512597307562828,"velocity_rad_s":-0.014576704241335392,"acceleration_raw":0.0,"estimated_torque_nm":0.28712132573127747,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.018226370215415955,"velocity_rad_s":-0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":-2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.012172667309641838,"velocity_rad_s":0.1800398975610733,"acceleration_raw":0.0,"estimated_torque_nm":1.170371651649475,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03271649405360222,"velocity_rad_s":0.11512109637260437,"acceleration_raw":0.0,"estimated_torque_nm":1.8273295164108276,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28291159868240356,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2076147198677063,"velocity_rad_s":-0.13805827498435974,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784041047096252,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.031015174463391304,"velocity_rad_s":-0.48473796248435974,"acceleration_raw":0.0,"estimated_torque_nm":-0.06875000149011612,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.1756887435913086,"velocity_rad_s":1.1566215753555298,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1747659593820572,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.040290966629981995,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.825018048286438,"velocity_rad_s":0.9173205494880676,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05542704090476036,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.11816445738077164,"velocity_rad_s":3.2581753730773926,"acceleration_raw":0.0,"estimated_torque_nm":-1.037500023841858,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01918674446642399,"velocity_rad_s":0.4417864978313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.19374999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787915815488,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809983,"imu":{"quaternion":[0.9901050329208374,-0.0010986761189997196,0.006223336793482304,0.14018583297729492],"gyroscope":[-0.011717907153069973,0.02237055078148842,-0.09161273390054703],"accelerometer":[-0.02693476900458336,0.1975216418504715,10.247781753540039],"rpy":[-0.00043079667375423014,0.012631888501346111,0.2813011407852173],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3050917387008667,"velocity_rad_s":-0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01582556776702404,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01025819219648838,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6401301622390747,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32934245467185974,"velocity_rad_s":-0.0057686143554747105,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.019001299515366554,"velocity_rad_s":-0.01212094072252512,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.302194207906723,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009612945839762688,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011088489554822445,"velocity_rad_s":0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6070217490196228,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3094998598098755,"velocity_rad_s":-0.02800803817808628,"acceleration_raw":0.0,"estimated_torque_nm":3.4454169273376465,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018520032986998558,"velocity_rad_s":-0.004389218520373106,"acceleration_raw":0.0,"estimated_torque_nm":0.33802348375320435,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01814601942896843,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":-2.572798252105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.012020616792142391,"velocity_rad_s":0.18295811116695404,"acceleration_raw":0.0,"estimated_torque_nm":1.1216061115264893,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03262696787714958,"velocity_rad_s":0.11577040702104568,"acceleration_raw":0.0,"estimated_torque_nm":1.7511907815933228,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2829715311527252,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20753082633018494,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784041047096252,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.030368026345968246,"velocity_rad_s":-0.46019425988197327,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00760998297482729,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17650367319583893,"velocity_rad_s":1.1489516496658325,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1747659593820572,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04027898237109184,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.825617253780365,"velocity_rad_s":0.8943108320236206,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05546299368143082,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.11329886317253113,"velocity_rad_s":3.153864622116089,"acceleration_raw":0.0,"estimated_torque_nm":-1.037500023841858,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.018575549125671387,"velocity_rad_s":0.42951464653015137,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787917705600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809984,"imu":{"quaternion":[0.990117609500885,-0.0011100872652605176,0.006239697337150574,0.14009635150432587],"gyroscope":[-0.010652642697095871,0.027696872130036354,-0.09161273390054703],"accelerometer":[0.002693476853892207,0.22714988887310028,10.128371238708496],"rpy":[-0.0004499524657148868,0.012667445465922356,0.28112027049064636],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30515989661216736,"velocity_rad_s":-0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015851134434342384,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010298367589712143,"velocity_rad_s":0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6401557326316833,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293342590332031,"velocity_rad_s":-0.005768139846622944,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018986854702234268,"velocity_rad_s":-0.0046895951963961124,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30227944254875183,"velocity_rad_s":-0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009612945839762688,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.011021530255675316,"velocity_rad_s":0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.607004702091217,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3095124363899231,"velocity_rad_s":-0.01480157021433115,"acceleration_raw":0.0,"estimated_torque_nm":3.4454169273376465,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018541894853115082,"velocity_rad_s":-0.0017233184771612287,"acceleration_raw":0.0,"estimated_torque_nm":0.33802348375320435,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01797192357480526,"velocity_rad_s":-0.13713301718235016,"acceleration_raw":0.0,"estimated_torque_nm":-2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.011845764704048634,"velocity_rad_s":0.19463381171226501,"acceleration_raw":0.0,"estimated_torque_nm":1.1216061115264893,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03253237158060074,"velocity_rad_s":0.12088432908058167,"acceleration_raw":0.0,"estimated_torque_nm":1.7511907815933228,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2829835116863251,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20743495225906372,"velocity_rad_s":-0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784161448478699,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.030056437477469444,"velocity_rad_s":-0.4417864978313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.178181454539299,"velocity_rad_s":1.1412817239761353,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1747659593820572,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04027898237109184,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8261085748672485,"velocity_rad_s":0.8544273376464844,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05548696219921112,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.11078217625617981,"velocity_rad_s":3.153864622116089,"acceleration_raw":0.0,"estimated_torque_nm":-1.037500023841858,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01822800748050213,"velocity_rad_s":0.4356505572795868,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787919696640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809985,"imu":{"quaternion":[0.990123987197876,-0.0011158306151628494,0.00625328766182065,0.14005106687545776],"gyroscope":[-0.009587379172444344,0.038349516689777374,-0.0926779955625534],"accelerometer":[-0.04399345442652702,0.33758243918418884,10.003573417663574],"rpy":[-0.0004580989188980311,0.012695947661995888,0.2810288071632385],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.305185467004776,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015868179500102997,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010311760008335114,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6401727795600891,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293383717536926,"velocity_rad_s":-0.0047200340777635574,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018994076177477837,"velocity_rad_s":-0.013970594853162766,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30232203006744385,"velocity_rad_s":-0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00959590170532465,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010887610726058483,"velocity_rad_s":0.11142057180404663,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069791316986084,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3095126748085022,"velocity_rad_s":-0.010077012702822685,"acceleration_raw":0.0,"estimated_torque_nm":3.4454169273376465,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01857091300189495,"velocity_rad_s":0.002875336678698659,"acceleration_raw":0.0,"estimated_torque_nm":0.33802348375320435,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017878180369734764,"velocity_rad_s":-0.14227551221847534,"acceleration_raw":0.0,"estimated_torque_nm":-2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.011518838815391064,"velocity_rad_s":0.2062779814004898,"acceleration_raw":0.0,"estimated_torque_nm":1.0249199867248535,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.032318804413080215,"velocity_rad_s":0.1346127986907959,"acceleration_raw":0.0,"estimated_torque_nm":1.6002322435379028,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2830074727535248,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20723122358322144,"velocity_rad_s":-0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784041047096252,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":53.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.029744846746325493,"velocity_rad_s":-0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.08124999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17899638414382935,"velocity_rad_s":1.1397477388381958,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17475397884845734,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04026699811220169,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8265999555587769,"velocity_rad_s":0.8114758729934692,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05552291497588158,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.10846922546625137,"velocity_rad_s":3.1415927410125732,"acceleration_raw":0.0,"estimated_torque_nm":-1.0750000476837158,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.017952369526028633,"velocity_rad_s":0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":-0.19374999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787921312608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809986,"imu":{"quaternion":[0.9901303052902222,-0.001120675471611321,0.006265970412641764,0.14000527560710907],"gyroscope":[-0.008522114716470242,0.03621898591518402,-0.09374325722455978],"accelerometer":[-0.0520738884806633,0.4246715307235718,9.904812812805176],"rpy":[-0.0004647292953450233,0.012722399085760117,0.28093627095222473],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3052280843257904,"velocity_rad_s":-0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01033854391425848,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6402068734169006,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32934245467185974,"velocity_rad_s":-0.007341959048062563,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018986789509654045,"velocity_rad_s":-0.016777805984020233,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30237317085266113,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009612945839762688,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.01084743533283472,"velocity_rad_s":0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069450378417969,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.309508353471756,"velocity_rad_s":-0.0031294540967792273,"acceleration_raw":0.0,"estimated_torque_nm":3.535547971725464,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018549107015132904,"velocity_rad_s":-0.005541233811527491,"acceleration_raw":0.0,"estimated_torque_nm":0.28712132573127747,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01779782958328724,"velocity_rad_s":-0.16455961763858795,"acceleration_raw":0.0,"estimated_torque_nm":-2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.011336399242281914,"velocity_rad_s":0.21212194859981537,"acceleration_raw":0.0,"estimated_torque_nm":0.9761142730712891,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03219974786043167,"velocity_rad_s":0.14470961689949036,"acceleration_raw":0.0,"estimated_torque_nm":1.5240308046340942,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2830314338207245,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20712336897850037,"velocity_rad_s":-0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784281253814697,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.029457226395606995,"velocity_rad_s":-0.38656318187713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.17989520728588104,"velocity_rad_s":1.1627575159072876,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1747659593820572,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04026699811220169,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8275706768035889,"velocity_rad_s":0.7409127354621887,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05561878904700279,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.10622817277908325,"velocity_rad_s":3.0740976333618164,"acceleration_raw":0.0,"estimated_torque_nm":-1.0499999523162842,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01762879453599453,"velocity_rad_s":0.39269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787923187168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809987,"imu":{"quaternion":[0.9901303052902222,-0.001120675471611321,0.006265970412641764,0.14000527560710907],"gyroscope":[-0.008522114716470242,0.03621898591518402,-0.09374325722455978],"accelerometer":[-0.0520738884806633,0.4246715307235718,9.904812812805176],"rpy":[-0.0004647292953450233,0.012722399085760117,0.28093627095222473],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30525365471839905,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015910789370536804,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010365326888859272,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6402324438095093,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32934653759002686,"velocity_rad_s":-0.012060451321303844,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018979502841830254,"velocity_rad_s":-0.006596526596695185,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30241578817367554,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009604424238204956,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010780476033687592,"velocity_rad_s":0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069279909133911,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-7.646484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3095167577266693,"velocity_rad_s":-0.0026230670046061277,"acceleration_raw":0.0,"estimated_torque_nm":3.62660813331604,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01856370083987713,"velocity_rad_s":-0.002761096926406026,"acceleration_raw":0.0,"estimated_torque_nm":0.33950579166412354,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017690693959593773,"velocity_rad_s":-0.1851295679807663,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.011176766827702522,"velocity_rad_s":0.21699173748493195,"acceleration_raw":0.0,"estimated_torque_nm":0.9273085594177246,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03209557384252548,"velocity_rad_s":0.15291406214237213,"acceleration_raw":0.0,"estimated_torque_nm":1.447829246520996,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28304344415664673,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20702749490737915,"velocity_rad_s":-0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784281253814697,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02882206253707409,"velocity_rad_s":-0.39269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.18091386556625366,"velocity_rad_s":1.199573040008545,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17475397884845734,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04027898237109184,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8280860185623169,"velocity_rad_s":0.7179030179977417,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05567871034145355,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.10143448412418365,"velocity_rad_s":3.0127384662628174,"acceleration_raw":0.0,"estimated_torque_nm":-1.0750000476837158,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01732918992638588,"velocity_rad_s":0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787925058080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809987,"imu":{"quaternion":[0.990142822265625,-0.0011231391690671444,0.006284729577600956,0.13991619646549225],"gyroscope":[-0.0021305286791175604,0.026631608605384827,-0.09054746478796005],"accelerometer":[-0.39234980940818787,0.2486976981163025,9.358036994934082],"rpy":[-0.00046550334081985056,0.012760196812450886,0.2807563543319702],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3053133189678192,"velocity_rad_s":-0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015919310972094536,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010392110794782639,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6402409672737122,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32935065031051636,"velocity_rad_s":-0.010487107560038567,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018972216174006462,"velocity_rad_s":-0.0019396621501073241,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30250102281570435,"velocity_rad_s":-0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00959590170532465,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010726908221840858,"velocity_rad_s":0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069109439849854,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3095126748085022,"velocity_rad_s":0.0032053969334810972,"acceleration_raw":0.0,"estimated_torque_nm":3.535547971725464,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01857091300189495,"velocity_rad_s":-0.0037417556159198284,"acceleration_raw":0.0,"estimated_torque_nm":0.28712132573127747,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01748981513082981,"velocity_rad_s":-0.14741799235343933,"acceleration_raw":0.0,"estimated_torque_nm":-2.2931463718414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.011009510606527328,"velocity_rad_s":0.21991467475891113,"acceleration_raw":0.0,"estimated_torque_nm":0.9283469319343567,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03196683153510094,"velocity_rad_s":0.15465882420539856,"acceleration_raw":0.0,"estimated_torque_nm":1.4478282928466797,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28313931822776794,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20689566433429718,"velocity_rad_s":-0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784401059150696,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02852245606482029,"velocity_rad_s":-0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":-0.08124999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.18311895430088043,"velocity_rad_s":1.3422333002090454,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1747419834136963,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04027898237109184,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8285533785820007,"velocity_rad_s":0.7071651816368103,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.055762600153684616,"velocity_rad_s":-0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.09922938793897629,"velocity_rad_s":2.9820587635040283,"acceleration_raw":0.0,"estimated_torque_nm":-1.0750000476837158,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.016741963103413582,"velocity_rad_s":0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.19374999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787926643808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809988,"imu":{"quaternion":[0.9901490211486816,-0.0011240480234846473,0.00629412243142724,0.13987191021442413],"gyroscope":[-0.0021305286791175604,0.026631608605384827,-0.09054746478796005],"accelerometer":[-0.39234980940818787,0.2486976981163025,9.358036994934082],"rpy":[-0.00046524626668542624,0.012779030948877335,0.28066691756248474],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30533885955810547,"velocity_rad_s":-0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015919310972094536,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010459070093929768,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6402580142021179,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32935473322868347,"velocity_rad_s":-0.009438764303922653,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01897943951189518,"velocity_rad_s":-0.007504988927394152,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.302569180727005,"velocity_rad_s":-0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00957033596932888,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0105929896235466,"velocity_rad_s":0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068939566612244,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3095167577266693,"velocity_rad_s":0.006471548229455948,"acceleration_raw":0.0,"estimated_torque_nm":3.535547971725464,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01856370083987713,"velocity_rad_s":-0.014909902587532997,"acceleration_raw":0.0,"estimated_torque_nm":0.28712132573127747,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017382681369781494,"velocity_rad_s":-0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.010705439373850822,"velocity_rad_s":0.2062911093235016,"acceleration_raw":0.0,"estimated_torque_nm":0.9283469319343567,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03176862746477127,"velocity_rad_s":0.1445218175649643,"acceleration_raw":0.0,"estimated_torque_nm":1.4478282928466797,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28321120142936707,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2067158967256546,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784161448478699,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02822284959256649,"velocity_rad_s":-0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":-0.08124999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.18428143858909607,"velocity_rad_s":1.372912883758545,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1747659593820572,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.040290966629981995,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8290207386016846,"velocity_rad_s":0.6856894493103027,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05584648996591568,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.09704825282096863,"velocity_rad_s":2.9452431201934814,"acceleration_raw":0.0,"estimated_torque_nm":-1.0750000476837158,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01647830940783024,"velocity_rad_s":0.38656318187713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.18125000596046448,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787928796512,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809989,"imu":{"quaternion":[0.9901490211486816,-0.0011240480234846473,0.00629412243142724,0.13987191021442413],"gyroscope":[-0.0021305286791175604,0.026631608605384827,-0.09054746478796005],"accelerometer":[-0.39234980940818787,0.2486976981163025,9.358036994934082],"rpy":[-0.00046524626668542624,0.012779030948877335,0.28066691756248474],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.305372953414917,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01593635603785515,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010526030324399471,"velocity_rad_s":0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6403006315231323,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32935065031051636,"velocity_rad_s":-0.005767547059804201,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018972216174006462,"velocity_rad_s":0.004599587060511112,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30262884497642517,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009561813436448574,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010526030324399471,"velocity_rad_s":0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068428158760071,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3095085024833679,"velocity_rad_s":0.008036275394260883,"acceleration_raw":0.0,"estimated_torque_nm":3.535547971725464,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01856362633407116,"velocity_rad_s":-0.012139285914599895,"acceleration_raw":0.0,"estimated_torque_nm":0.28712132573127747,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017248760908842087,"velocity_rad_s":-0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.010568597353994846,"velocity_rad_s":0.20629584789276123,"acceleration_raw":0.0,"estimated_torque_nm":0.8794865608215332,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03166960924863815,"velocity_rad_s":0.14955143630504608,"acceleration_raw":0.0,"estimated_torque_nm":1.3716267347335815,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2832711338996887,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20660804212093353,"velocity_rad_s":-0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784640669822693,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.027911260724067688,"velocity_rad_s":-0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.18526414036750793,"velocity_rad_s":1.3683109283447266,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17475397884845734,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.040290966629981995,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8299674987792969,"velocity_rad_s":0.6611457467079163,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05601426959037781,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.09477125108242035,"velocity_rad_s":2.9206995964050293,"acceleration_raw":0.0,"estimated_torque_nm":-1.100000023841858,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.016142752021551132,"velocity_rad_s":0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":-0.19374999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787930705376,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":809990,"imu":{"quaternion":[0.9901548027992249,-0.0011282104533165693,0.006303383968770504,0.13983085751533508],"gyroscope":[-0.008522114716470242,0.026631608605384827,-0.08415587991476059],"accelerometer":[-0.4381389021873474,0.13018471002578735,9.503484725952148],"rpy":[-0.0004714294627774507,0.012798517942428589,0.2805840075016022],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30539852380752563,"velocity_rad_s":-0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01593635603785515,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010566205717623234,"velocity_rad_s":0.07542315870523453,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6403176784515381,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293629288673401,"velocity_rad_s":-0.010487225838005543,"acceleration_raw":0.0,"estimated_torque_nm":6.144985198974609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018964847549796104,"velocity_rad_s":-0.0037974980659782887,"acceleration_raw":0.0,"estimated_torque_nm":-2.529041290283203,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3026629388332367,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009527725167572498,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.010472462512552738,"velocity_rad_s":0.11142057180404663,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068342924118042,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3095167577266693,"velocity_rad_s":0.0038484809920191765,"acceleration_raw":0.0,"estimated_torque_nm":3.535547971725464,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01856370083987713,"velocity_rad_s":-0.017671000212430954,"acceleration_raw":0.0,"estimated_torque_nm":0.28712132573127747,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.017101449891924858,"velocity_rad_s":-0.16455961763858795,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.010416564531624317,"velocity_rad_s":0.20337677001953125,"acceleration_raw":0.0,"estimated_torque_nm":0.8794865608215332,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03157050907611847,"velocity_rad_s":0.1476486623287201,"acceleration_raw":0.0,"estimated_torque_nm":1.3716267347335815,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28331905603408813,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20651216804981232,"velocity_rad_s":-0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9784640669822693,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02738395519554615,"velocity_rad_s":-0.36201947927474976,"acceleration_raw":0.0,"estimated_torque_nm":-0.09375,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.18615096807479858,"velocity_rad_s":1.3268934488296509,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17475397884845734,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.04027898237109184,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8303989768028259,"velocity_rad_s":0.6488739252090454,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05611014366149902,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.09040899574756622,"velocity_rad_s":2.834796667098999,"acceleration_raw":0.0,"estimated_torque_nm":-1.087499976158142,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.015867114067077637,"velocity_rad_s":0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.19374999403953552,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787935410144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810013,"imu":{"quaternion":[0.9903453588485718,-0.0011468115262687206,0.006843205541372299,0.1384485810995102],"gyroscope":[0.02237055078148842,0.045806366950273514,-0.1438106894493103],"accelerometer":[-1.091755986213684,-0.5117605924606323,9.69741439819336],"rpy":[-0.0003766510635614395,0.013872267678380013,0.27779361605644226],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3069325089454651,"velocity_rad_s":-0.09162978827953339,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015919310972094536,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012454463168978691,"velocity_rad_s":0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6407267451286316,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958006858825684,"velocity_rad_s":-0.011011753231287003,"acceleration_raw":0.0,"estimated_torque_nm":5.595649719238281,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01873817853629589,"velocity_rad_s":-0.0065883444622159,"acceleration_raw":0.0,"estimated_torque_nm":-2.4257960319519043,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3054155707359314,"velocity_rad_s":-0.1690787822008133,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009093097411096096,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007887826301157475,"velocity_rad_s":0.17655876278877258,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6065871119499207,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30963924527168274,"velocity_rad_s":0.003894046414643526,"acceleration_raw":0.0,"estimated_torque_nm":2.9910457134246826,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01837625913321972,"velocity_rad_s":-0.023240793496370316,"acceleration_raw":0.0,"estimated_torque_nm":0.17938782274723053,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012909787707030773,"velocity_rad_s":-0.2296978086233139,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.004185314290225506,"velocity_rad_s":0.3140656650066376,"acceleration_raw":0.0,"estimated_torque_nm":-0.5439240336418152,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028393683955073357,"velocity_rad_s":0.12040596455335617,"acceleration_raw":0.0,"estimated_torque_nm":0.9927696585655212,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28500884771347046,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20383968949317932,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005309011787176132,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789793491363525,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022434469312429428,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2130555510520935,"velocity_rad_s":1.5155730247497559,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1751853972673416,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0400153286755085,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8367385864257812,"velocity_rad_s":0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05789579078555107,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.045096639543771744,"velocity_rad_s":1.3744468688964844,"acceleration_raw":0.0,"estimated_torque_nm":-0.8500000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013590111397206783,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.01875000074505806,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787937524192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810014,"imu":{"quaternion":[0.990365207195282,-0.0011386440601199865,0.006904485635459423,0.13830304145812988],"gyroscope":[0.02556634321808815,0.056459009647369385,-0.15020227432250977],"accelerometer":[-1.235408067703247,-0.5781996846199036,9.928155899047852],"rpy":[-0.000345558044500649,0.013991336338222027,0.2774999737739563],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30700069665908813,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015910789370536804,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012574990279972553,"velocity_rad_s":0.1302763670682907,"acceleration_raw":0.0,"estimated_torque_nm":0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6407267451286316,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958826422691345,"velocity_rad_s":-0.008914236910641193,"acceleration_raw":0.0,"estimated_torque_nm":5.595649719238281,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01875264197587967,"velocity_rad_s":-0.0047141434624791145,"acceleration_raw":0.0,"estimated_torque_nm":-2.4257960319519043,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3055093288421631,"velocity_rad_s":-0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00908457487821579,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007740515749901533,"velocity_rad_s":0.18855789303779602,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6066297292709351,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30965158343315125,"velocity_rad_s":0.0023445081897079945,"acceleration_raw":0.0,"estimated_torque_nm":2.9910457134246826,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018369119614362717,"velocity_rad_s":-0.027868008241057396,"acceleration_raw":0.0,"estimated_torque_nm":0.17938782274723053,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012548206374049187,"velocity_rad_s":-0.2296978086233139,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0040105972439050674,"velocity_rad_s":0.30045196413993835,"acceleration_raw":0.0,"estimated_torque_nm":-0.5441665053367615,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028329646214842796,"velocity_rad_s":0.11033976078033447,"acceleration_raw":0.0,"estimated_torque_nm":1.145486831665039,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2850687801837921,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20375579595565796,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00529702752828598,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789673686027527,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02232661098241806,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2143258899450302,"velocity_rad_s":1.5339808464050293,"acceleration_raw":0.0,"estimated_torque_nm":-2.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1751853972673416,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03997937589883804,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8368824124336243,"velocity_rad_s":0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05794372782111168,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.042939480394124985,"velocity_rad_s":1.3437671661376953,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013685985468327999,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.01875000074505806,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787939516768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810015,"imu":{"quaternion":[0.9903751015663147,-0.0011337122414261103,0.006936455611139536,0.1382310539484024],"gyroscope":[0.02876213565468788,0.05326321721076965,-0.14594121277332306],"accelerometer":[-1.3314753770828247,-0.7416039705276489,9.645340919494629],"rpy":[-0.000327966088661924,0.014053276740014553,0.27735477685928345],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30712851881980896,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015927834436297417,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012641949579119682,"velocity_rad_s":0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6407352685928345,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958006858825684,"velocity_rad_s":-0.0031464521307498217,"acceleration_raw":0.0,"estimated_torque_nm":5.595649719238281,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01873817853629589,"velocity_rad_s":-0.005598057061433792,"acceleration_raw":0.0,"estimated_torque_nm":-2.4257960319519043,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30572235584259033,"velocity_rad_s":-0.1494438350200653,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009041964076459408,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0076467725448310375,"velocity_rad_s":0.18170124292373657,"acceleration_raw":0.0,"estimated_torque_nm":-1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6066552996635437,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3096393644809723,"velocity_rad_s":0.004906821064651012,"acceleration_raw":0.0,"estimated_torque_nm":2.9910457134246826,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018390759825706482,"velocity_rad_s":-0.017680520191788673,"acceleration_raw":0.0,"estimated_torque_nm":0.17938782274723053,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012400895357131958,"velocity_rad_s":-0.2622668743133545,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0037903073243796825,"velocity_rad_s":0.2810056507587433,"acceleration_raw":0.0,"estimated_torque_nm":-0.5441665053367615,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028265539556741714,"velocity_rad_s":0.10528658330440521,"acceleration_raw":0.0,"estimated_torque_nm":1.145486831665039,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2852005958557129,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203623965382576,"velocity_rad_s":-0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005309011787176132,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789793491363525,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0222666896879673,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21651899814605713,"velocity_rad_s":1.5033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17523333430290222,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03994342312216759,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8370022773742676,"velocity_rad_s":0.200951486825943,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05799166485667229,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.042040660977363586,"velocity_rad_s":1.2701361179351807,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013721938244998455,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787941430368,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810016,"imu":{"quaternion":[0.9903751015663147,-0.0011337122414261103,0.006936455611139536,0.1382310539484024],"gyroscope":[0.02876213565468788,0.05326321721076965,-0.14594121277332306],"accelerometer":[-1.3314753770828247,-0.7416039705276489,9.645340919494629],"rpy":[-0.000327966088661924,0.014053276740014553,0.27735477685928345],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3071881830692291,"velocity_rad_s":-0.0970839411020279,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":53.0,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01593635603785515,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01277586817741394,"velocity_rad_s":0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6407437920570374,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958415150642395,"velocity_rad_s":-0.007341247517615557,"acceleration_raw":0.0,"estimated_torque_nm":5.595649719238281,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01874540187418461,"velocity_rad_s":-0.0056307874619960785,"acceleration_raw":0.0,"estimated_torque_nm":-2.4257960319519043,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3058246374130249,"velocity_rad_s":-0.14617133140563965,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009041964076459408,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007405718322843313,"velocity_rad_s":0.1851295679807663,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6066808700561523,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30964750051498413,"velocity_rad_s":-0.003590275999158621,"acceleration_raw":0.0,"estimated_torque_nm":2.9910457134246826,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018376333639025688,"velocity_rad_s":-0.013891165144741535,"acceleration_raw":0.0,"estimated_torque_nm":0.17938782274723053,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01225358434021473,"velocity_rad_s":-0.25541025400161743,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.003486440284177661,"velocity_rad_s":0.25766950845718384,"acceleration_raw":0.0,"estimated_torque_nm":-0.4458003342151642,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028098300099372864,"velocity_rad_s":0.09646052122116089,"acceleration_raw":0.0,"estimated_torque_nm":1.2981842756271362,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2852725088596344,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20356404781341553,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00529702752828598,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789793491363525,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022218754515051842,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21764551103115082,"velocity_rad_s":1.4848934412002563,"acceleration_raw":0.0,"estimated_torque_nm":-2.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17523333430290222,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.039871517568826675,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8371101021766663,"velocity_rad_s":0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058039601892232895,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.04117779806256294,"velocity_rad_s":1.2026410102844238,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787945510848,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810017,"imu":{"quaternion":[0.9903852343559265,-0.0011279801838099957,0.006967457477003336,0.138156920671463],"gyroscope":[0.030892664566636086,0.05006742104887962,-0.15020227432250977],"accelerometer":[-1.4167689085006714,-0.7173627018928528,9.604938507080078],"rpy":[-0.0003090956306550652,0.014113078825175762,0.27720528841018677],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3072478175163269,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015927834436297417,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012883003801107407,"velocity_rad_s":0.15941712260246277,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640769362449646,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958826422691345,"velocity_rad_s":-0.007865063846111298,"acceleration_raw":0.0,"estimated_torque_nm":5.686668395996094,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018738113343715668,"velocity_rad_s":0.0027253860607743263,"acceleration_raw":0.0,"estimated_torque_nm":-2.374196767807007,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30590131878852844,"velocity_rad_s":-0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009041964076459408,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007271799258887768,"velocity_rad_s":0.21941281855106354,"acceleration_raw":0.0,"estimated_torque_nm":-1.5660511255264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6067490577697754,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30964750051498413,"velocity_rad_s":-0.0010431513655930758,"acceleration_raw":0.0,"estimated_torque_nm":2.9910457134246826,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018376333639025688,"velocity_rad_s":-0.0018470779759809375,"acceleration_raw":0.0,"estimated_torque_nm":0.17938782274723053,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012092881835997105,"velocity_rad_s":-0.22798363864421844,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0033269147388637066,"velocity_rad_s":0.2479461133480072,"acceleration_raw":0.0,"estimated_torque_nm":-0.494983434677124,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028034286573529243,"velocity_rad_s":0.09267836064100266,"acceleration_raw":0.0,"estimated_torque_nm":1.2218354940414429,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2853443920612335,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20350413024425507,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789673686027527,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022170817479491234,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21865218877792358,"velocity_rad_s":1.448077917098999,"acceleration_raw":0.0,"estimated_torque_nm":-2.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17526929080486298,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03983556479215622,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8374336957931519,"velocity_rad_s":0.22396120429039001,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058159444481134415,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.04032691940665245,"velocity_rad_s":1.1228740215301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01378185860812664,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787946190176,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810018,"imu":{"quaternion":[0.990406334400177,-0.0011118631809949875,0.0070234122686088085,0.13800325989723206],"gyroscope":[0.03621898591518402,0.04048004373908043,-0.15872438251972198],"accelerometer":[-1.4508862495422363,-0.689530074596405,9.912893295288086],"rpy":[-0.00026391190476715565,0.014219424687325954,0.2768953740596771],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30731600522994995,"velocity_rad_s":-0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015902267768979073,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012923179194331169,"velocity_rad_s":0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6407948732376099,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32959645986557007,"velocity_rad_s":-0.0036705052480101585,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018738068640232086,"velocity_rad_s":-0.0009575572330504656,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30599507689476013,"velocity_rad_s":-0.1330813616514206,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00902491994202137,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.007164664100855589,"velocity_rad_s":0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.606774628162384,"velocity_rad_s":0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3096638023853302,"velocity_rad_s":-0.007838823832571507,"acceleration_raw":0.0,"estimated_torque_nm":2.8089256286621094,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01834746263921261,"velocity_rad_s":-0.011996487155556679,"acceleration_raw":0.0,"estimated_torque_nm":0.07461889833211899,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011798259802162647,"velocity_rad_s":-0.24169693887233734,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.003182576969265938,"velocity_rad_s":0.24308541417121887,"acceleration_raw":0.0,"estimated_torque_nm":-0.6427752375602722,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.027950679883360863,"velocity_rad_s":0.09580957144498825,"acceleration_raw":0.0,"estimated_torque_nm":1.145506501197815,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28541630506515503,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2034442126750946,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005309011787176132,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789793491363525,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022122880443930626,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21968282759189606,"velocity_rad_s":1.4404079914093018,"acceleration_raw":0.0,"estimated_torque_nm":-2.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17526929080486298,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03978762775659561,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8376374244689941,"velocity_rad_s":0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05820738151669502,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.03864912688732147,"velocity_rad_s":1.0983302593231201,"acceleration_raw":0.0,"estimated_torque_nm":-0.768750011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013829795643687248,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787948485056,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810019,"imu":{"quaternion":[0.990406334400177,-0.0011118631809949875,0.0070234122686088085,0.13800325989723206],"gyroscope":[0.03621898591518402,0.04048004373908043,-0.15872438251972198],"accelerometer":[-1.4508862495422363,-0.689530074596405,9.912893295288086],"rpy":[-0.00026391190476715565,0.014219424687325954,0.2768953740596771],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.307426780462265,"velocity_rad_s":-0.09381145238876343,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015919310972094536,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013003530912101269,"velocity_rad_s":0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6408119201660156,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958415150642395,"velocity_rad_s":-2.3717711883364245e-07,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01874540187418461,"velocity_rad_s":-0.0037156729958951473,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30616551637649536,"velocity_rad_s":-0.123263880610466,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009016398340463638,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0070307450369000435,"velocity_rad_s":0.22284114360809326,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068001985549927,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3096638023853302,"velocity_rad_s":-0.006182965822517872,"acceleration_raw":0.0,"estimated_torque_nm":2.8089256286621094,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01834746263921261,"velocity_rad_s":-0.020365457981824875,"acceleration_raw":0.0,"estimated_torque_nm":0.07461889833211899,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011650948785245419,"velocity_rad_s":-0.23998278379440308,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0030458341352641582,"velocity_rad_s":0.20808686316013336,"acceleration_raw":0.0,"estimated_torque_nm":-0.6425327062606812,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.027862180024385452,"velocity_rad_s":0.11082088202238083,"acceleration_raw":0.0,"estimated_torque_nm":0.9927893280982971,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2855481207370758,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20333634316921234,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005309011787176132,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789793491363525,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022122880443930626,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22200776636600494,"velocity_rad_s":1.497165322303772,"acceleration_raw":0.0,"estimated_torque_nm":-2.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17534120380878448,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03977564349770546,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8378651142120361,"velocity_rad_s":0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05825531855225563,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.03784618154168129,"velocity_rad_s":1.0983302593231201,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013829795643687248,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787951450144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810020,"imu":{"quaternion":[0.9904174208641052,-0.0011047523003071547,0.0070494068786501884,0.1379222422838211],"gyroscope":[0.034088458865880966,0.0372842513024807,-0.16405069828033447],"accelerometer":[-1.433827519416809,-0.6805518269538879,10.091560363769531],"rpy":[-0.00024381675757467747,0.014268934726715088,0.2767319679260254],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3074864447116852,"velocity_rad_s":-0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015927834436297417,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013057098723948002,"velocity_rad_s":0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6408374905586243,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958826422691345,"velocity_rad_s":-0.00734160328283906,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018723605200648308,"velocity_rad_s":-0.011204296723008156,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3062422275543213,"velocity_rad_s":-0.10581059008836746,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009016398340463638,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006829866673797369,"velocity_rad_s":0.16455961763858795,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068257689476013,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3096841871738434,"velocity_rad_s":-0.010385949164628983,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0183113981038332,"velocity_rad_s":-0.024040574207901955,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011476854793727398,"velocity_rad_s":-0.22798363864421844,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0028255286160856485,"velocity_rad_s":0.17891588807106018,"acceleration_raw":0.0,"estimated_torque_nm":-0.5933496356010437,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02771959826350212,"velocity_rad_s":0.09570768475532532,"acceleration_raw":0.0,"estimated_torque_nm":1.0691380500793457,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2855960726737976,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20325246453285217,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789793491363525,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022098911926150322,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22313429415225983,"velocity_rad_s":1.5186409950256348,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1753891408443451,"velocity_rad_s":-0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0397157222032547,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8381527662277222,"velocity_rad_s":0.2899223864078522,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05831523984670639,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0369953028857708,"velocity_rad_s":1.0799225568771362,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787952115616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810021,"imu":{"quaternion":[0.9904285073280334,-0.0010995793854817748,0.007076592650264502,0.13784068822860718],"gyroscope":[0.030892664566636086,0.03941477835178375,-0.16511596739292145],"accelerometer":[-1.5056536197662354,-0.634762704372406,9.987412452697754],"rpy":[-0.00022724797599948943,0.014321341179311275,0.2765674293041229],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3075290620326996,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01593635603785515,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013083881698548794,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6408886313438416,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958006858825684,"velocity_rad_s":-0.0010489359265193343,"acceleration_raw":0.0,"estimated_torque_nm":5.685863494873047,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0187526885420084,"velocity_rad_s":-0.0037238553632050753,"acceleration_raw":0.0,"estimated_torque_nm":-2.270986557006836,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30631890892982483,"velocity_rad_s":-0.10581059008836746,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009007875807583332,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00672273151576519,"velocity_rad_s":0.1851295679807663,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068683862686157,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3096880316734314,"velocity_rad_s":-0.007150174118578434,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018275167793035507,"velocity_rad_s":-0.03149552270770073,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011316152289509773,"velocity_rad_s":-0.25541025400161743,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0027267758268862963,"velocity_rad_s":0.16821832954883575,"acceleration_raw":0.0,"estimated_torque_nm":-0.5933496356010437,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02768510952591896,"velocity_rad_s":0.0825071707367897,"acceleration_raw":0.0,"estimated_torque_nm":1.0691380500793457,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2856679856777191,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20322848856449127,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789793491363525,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022062959149479866,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007813714444637299,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22423683106899261,"velocity_rad_s":1.4726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1754370778799057,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03970373794436455,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8386081457138062,"velocity_rad_s":0.3129321038722992,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05843508243560791,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.03616839274764061,"velocity_rad_s":1.0983302593231201,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787954343968,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810022,"imu":{"quaternion":[0.9904506206512451,-0.0010887933894991875,0.007133749313652515,0.13767863810062408],"gyroscope":[0.03302319347858429,0.04048004373908043,-0.16405069828033447],"accelerometer":[-1.5047557353973389,-0.39863458275794983,9.681253433227539],"rpy":[-0.00019248253374826163,0.014431560412049294,0.2762405574321747],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30758020281791687,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01594487763941288,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013137449510395527,"velocity_rad_s":0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640931248664856,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958415150642395,"velocity_rad_s":-0.0036705052480101585,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01874540187418461,"velocity_rad_s":-0.0009575572330504656,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3063870966434479,"velocity_rad_s":-0.11126474291086197,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":4.04296875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0066289883106946945,"velocity_rad_s":0.18170124292373657,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068939566612244,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3097290098667145,"velocity_rad_s":-0.012381119653582573,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01823202148079872,"velocity_rad_s":-0.038874316960573196,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010967962443828583,"velocity_rad_s":-0.2571244239807129,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0026356158778071404,"velocity_rad_s":0.16335688531398773,"acceleration_raw":0.0,"estimated_torque_nm":-0.5933496356010437,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02763591893017292,"velocity_rad_s":0.08187166601419449,"acceleration_raw":0.0,"estimated_torque_nm":1.0691380500793457,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28571590781211853,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20315659046173096,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00529702752828598,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979003369808197,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022015022113919258,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007801730651408434,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2251356542110443,"velocity_rad_s":1.418932318687439,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1754610389471054,"velocity_rad_s":-0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03966778516769409,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8388238549232483,"velocity_rad_s":0.30526217818260193,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05849500373005867,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.03455052152276039,"velocity_rad_s":1.0492428541183472,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013829795643687248,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787956015808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810023,"imu":{"quaternion":[0.9904506206512451,-0.0010887933894991875,0.007133749313652515,0.13767863810062408],"gyroscope":[0.03302319347858429,0.04048004373908043,-0.16405069828033447],"accelerometer":[-1.5047557353973389,-0.39863458275794983,9.681253433227539],"rpy":[-0.00019248253374826163,0.014431560412049294,0.2762405574321747],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30767393112182617,"velocity_rad_s":-0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015970444306731224,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013150841929018497,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409482955932617,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32957595586776733,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.685863494873047,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018745465204119682,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.270986557006836,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3065490126609802,"velocity_rad_s":-0.123263880610466,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006521853152662516,"velocity_rad_s":0.17313042283058167,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069024205207825,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3097371459007263,"velocity_rad_s":-0.0070590428076684475,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018217595294117928,"velocity_rad_s":-0.04263510927557945,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010780476033687592,"velocity_rad_s":-0.29997849464416504,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002559649758040905,"velocity_rad_s":0.1536327302455902,"acceleration_raw":0.0,"estimated_torque_nm":-0.5441665053367615,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02759656123816967,"velocity_rad_s":0.07432278245687485,"acceleration_raw":0.0,"estimated_torque_nm":1.145486831665039,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2858237624168396,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2030726969242096,"velocity_rad_s":-0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979003369808197,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022038990631699562,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007789746392518282,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22694526612758636,"velocity_rad_s":1.352971076965332,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17549699544906616,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03964381664991379,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8390156030654907,"velocity_rad_s":0.30066025257110596,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05854294076561928,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.03378353267908096,"velocity_rad_s":1.036971092224121,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787958925312,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810024,"imu":{"quaternion":[0.9904618859291077,-0.0010824307100847363,0.007158834021538496,0.13759708404541016],"gyroscope":[0.03195792809128761,0.03302319347858429,-0.16511596739292145],"accelerometer":[-1.4221558570861816,-0.2908954918384552,9.633668899536133],"rpy":[-0.00017416159971617162,0.01447948906570673,0.2760760486125946],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3077080249786377,"velocity_rad_s":-0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015996010974049568,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013244585134088993,"velocity_rad_s":0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409823894500732,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958826422691345,"velocity_rad_s":-0.00524432398378849,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018738113343715668,"velocity_rad_s":-0.013045767322182655,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30663424730300903,"velocity_rad_s":-0.11344641447067261,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0089993542060256,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006347758695483208,"velocity_rad_s":0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069279909133911,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3097454011440277,"velocity_rad_s":-0.011322779580950737,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018217669799923897,"velocity_rad_s":-0.03888383507728577,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010606381110846996,"velocity_rad_s":-0.2828368544578552,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002445697318762541,"velocity_rad_s":0.12640704214572906,"acceleration_raw":0.0,"estimated_torque_nm":-0.5441665053367615,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02752281166613102,"velocity_rad_s":0.06297939270734787,"acceleration_raw":0.0,"estimated_torque_nm":1.145486831665039,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2858956754207611,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2030487209558487,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.979003369808197,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14571619033813477,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022038990631699562,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007789746392518282,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2280118763446808,"velocity_rad_s":1.3591070175170898,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17553295195102692,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03953595831990242,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8392552733421326,"velocity_rad_s":0.2914563715457916,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058590877801179886,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.03296860307455063,"velocity_rad_s":1.0246992111206055,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0138417799025774,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787959583072,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810025,"imu":{"quaternion":[0.9904730319976807,-0.0010790039086714387,0.00717880018055439,0.13751555979251862],"gyroscope":[0.024501079693436623,0.023435814306139946,-0.16511596739292145],"accelerometer":[-1.403301477432251,-0.35733461380004883,10.077195167541504],"rpy":[-0.00016307244368363172,0.01451808586716652,0.2759115397930145],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.307759165763855,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016021577641367912,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01327136904001236,"velocity_rad_s":0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6410761475563049,"velocity_rad_s":0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958415150642395,"velocity_rad_s":-0.0026219249702990055,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01874540187418461,"velocity_rad_s":-0.0028072111308574677,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3067109286785126,"velocity_rad_s":-0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009007875807583332,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006267406977713108,"velocity_rad_s":0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069706082344055,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30973294377326965,"velocity_rad_s":-0.009251665323972702,"acceleration_raw":0.0,"estimated_torque_nm":2.627734661102295,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018210306763648987,"velocity_rad_s":-0.033333081752061844,"acceleration_raw":0.0,"estimated_torque_nm":0.07313660532236099,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010432287119328976,"velocity_rad_s":-0.2845510244369507,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.00239252345636487,"velocity_rad_s":0.11571099609136581,"acceleration_raw":0.0,"estimated_torque_nm":-0.4458003342151642,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02750801295042038,"velocity_rad_s":0.05731232836842537,"acceleration_raw":0.0,"estimated_torque_nm":1.2981842756271362,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2859675884246826,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203024759888649,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789913892745972,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022050974890589714,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007801730651408434,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22904251515865326,"velocity_rad_s":1.3606410026550293,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17555691301822662,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03952397406101227,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8397586345672607,"velocity_rad_s":0.33440783619880676,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586627833545208,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.03221359848976135,"velocity_rad_s":1.0185632705688477,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0138417799025774,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787961522752,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810026,"imu":{"quaternion":[0.9904836416244507,-0.0010776243871077895,0.007194873411208391,0.1374388486146927],"gyroscope":[0.019174758344888687,0.015978964045643806,-0.15552859008312225],"accelerometer":[-1.45806884765625,-0.44442370533943176,10.094253540039062],"rpy":[-0.00015704502584412694,0.014549536630511284,0.27575674653053284],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3077932298183441,"velocity_rad_s":-0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0160045325756073,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013311544433236122,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411187648773193,"velocity_rad_s":0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958415150642395,"velocity_rad_s":-0.0015732260653749108,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01874540187418461,"velocity_rad_s":-0.002799028530716896,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3067876398563385,"velocity_rad_s":-0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009016398340463638,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006187055725604296,"velocity_rad_s":0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069876551628113,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30974122881889343,"velocity_rad_s":-0.0030535117257386446,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018210381269454956,"velocity_rad_s":-0.014824223704636097,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010097489692270756,"velocity_rad_s":-0.2828368544578552,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0023697330616414547,"velocity_rad_s":0.094320148229599,"acceleration_raw":0.0,"estimated_torque_nm":-0.4458003342151642,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02749326266348362,"velocity_rad_s":0.05225607007741928,"acceleration_raw":0.0,"estimated_torque_nm":1.2981842756271362,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2860274910926819,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20296484231948853,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9789793491363525,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02202700637280941,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00782569870352745,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23009712994098663,"velocity_rad_s":1.3606410026550293,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17561683058738708,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.039500005543231964,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8400342464447021,"velocity_rad_s":0.3543495833873749,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.030607711523771286,"velocity_rad_s":1.043107032775879,"acceleration_raw":0.0,"estimated_torque_nm":-0.8062499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787963833408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810027,"imu":{"quaternion":[0.9904935956001282,-0.0010777448769658804,0.0072094532661139965,0.1373663693666458],"gyroscope":[0.015978964045643806,0.012783171609044075,-0.14700648188591003],"accelerometer":[-1.601720929145813,-0.6105214357376099,9.740509986877441],"rpy":[-0.00015434234228450805,0.014578442089259624,0.27561044692993164],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30786994099617004,"velocity_rad_s":-0.07417649775743484,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016021577641367912,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013324935920536518,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411783695220947,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958006858825684,"velocity_rad_s":-0.0036705052480101585,"acceleration_raw":0.0,"estimated_torque_nm":5.685863494873047,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01873817853629589,"velocity_rad_s":-0.0009575572330504656,"acceleration_raw":0.0,"estimated_torque_nm":-2.270986557006836,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30694103240966797,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009007875807583332,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006106704473495483,"velocity_rad_s":0.14570382237434387,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069791316986084,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30972468852996826,"velocity_rad_s":0.0011798483319580555,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018210234120488167,"velocity_rad_s":-0.014862303622066975,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009936786256730556,"velocity_rad_s":-0.2519819140434265,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.002346938708797097,"velocity_rad_s":0.0826532170176506,"acceleration_raw":0.0,"estimated_torque_nm":-0.4458003342151642,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02745889499783516,"velocity_rad_s":0.05349311977624893,"acceleration_raw":0.0,"estimated_torque_nm":1.2981842756271362,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28615933656692505,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20291690528392792,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790153503417969,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022038990631699562,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007801730651408434,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2319067418575287,"velocity_rad_s":1.2962138652801514,"acceleration_raw":0.0,"estimated_torque_nm":-3.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1757366806268692,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03948802128434181,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8402619957923889,"velocity_rad_s":0.34821364283561707,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":53.0,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.029816752299666405,"velocity_rad_s":1.0615147352218628,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013829795643687248,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787965478656,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810028,"imu":{"quaternion":[0.9905030131340027,-0.001081682974472642,0.007223799824714661,0.1372976303100586],"gyroscope":[0.008522114716470242,0.012783171609044075,-0.1395496279001236],"accelerometer":[-1.601720929145813,-0.6105214357376099,9.740509986877441],"rpy":[-0.00015921630256343633,0.014607935212552547,0.27547165751457214],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30790403485298157,"velocity_rad_s":-0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016030099242925644,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013391895219683647,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.641229510307312,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958415150642395,"velocity_rad_s":-0.004719441290944815,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01874540187418461,"velocity_rad_s":-0.004681413061916828,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30700069665908813,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009016398340463638,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005972785409539938,"velocity_rad_s":0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6070132255554199,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3097287714481354,"velocity_rad_s":-0.002977568656206131,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018203020095825195,"velocity_rad_s":-0.02410721220076084,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009789476171135902,"velocity_rad_s":-0.24512527883052826,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0022633715998381376,"velocity_rad_s":0.07195767015218735,"acceleration_raw":0.0,"estimated_torque_nm":-0.4458003342151642,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02739500254392624,"velocity_rad_s":0.05033719912171364,"acceleration_raw":0.0,"estimated_torque_nm":1.2981842756271362,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28623124957084656,"velocity_rad_s":0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20288094878196716,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790393114089966,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022038990631699562,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007813714444637299,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2328295260667801,"velocity_rad_s":1.2716701030731201,"acceleration_raw":0.0,"estimated_torque_nm":-3.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17579659819602966,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03947603702545166,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8404657244682312,"velocity_rad_s":0.3328738510608673,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.028929919004440308,"velocity_rad_s":1.1106021404266357,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013817811384797096,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.03750000149011612,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787967671808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810029,"imu":{"quaternion":[0.9905121922492981,-0.001090527162887156,0.007237318903207779,0.13723056018352509],"gyroscope":[-0.0010652643395587802,0.011717907153069973,-0.13635383546352386],"accelerometer":[-1.690605640411377,-0.6715735793113708,9.507075309753418],"rpy":[-0.00017401667719241232,0.014637134969234467,0.2753361165523529],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.30794665217399597,"velocity_rad_s":-0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016030099242925644,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013432071544229984,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6413403153419495,"velocity_rad_s":0.09162978827953339,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958006858825684,"velocity_rad_s":-2.3717711883364245e-07,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01873817853629589,"velocity_rad_s":-0.0037156729958951473,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3070688545703888,"velocity_rad_s":-0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.00902491994202137,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005919218063354492,"velocity_rad_s":0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6070217490196228,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3097287714481354,"velocity_rad_s":-0.006734918337315321,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018203020095825195,"velocity_rad_s":-0.01757580041885376,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00965555664151907,"velocity_rad_s":-0.221126988530159,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0022253873758018017,"velocity_rad_s":0.07195816934108734,"acceleration_raw":0.0,"estimated_torque_nm":-0.4458003342151642,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02737041935324669,"velocity_rad_s":0.05284835025668144,"acceleration_raw":0.0,"estimated_torque_nm":1.2981842756271362,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28631511330604553,"velocity_rad_s":0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20285698771476746,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005273059010505676,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9790632724761963,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022050974890589714,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007813714444637299,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2337043732404709,"velocity_rad_s":1.2640001773834229,"acceleration_raw":0.0,"estimated_torque_nm":-3.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17580857872962952,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":53.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03947603702545166,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8408252000808716,"velocity_rad_s":0.3067961633205414,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02811499312520027,"velocity_rad_s":1.0983302593231201,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013817811384797096,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.03750000149011612,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787970608288,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810030,"imu":{"quaternion":[0.9905213713645935,-0.0011001450475305319,0.007247737143188715,0.1371629238128662],"gyroscope":[-0.0031957929022610188,0.0053263213485479355,-0.13741908967494965],"accelerometer":[-1.5711948871612549,-0.6060323119163513,9.56274127960205],"rpy":[-0.00019121315563097596,0.014660400338470936,0.27519944310188293],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3079807162284851,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016030099242925644,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01345885545015335,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6413829326629639,"velocity_rad_s":0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958415150642395,"velocity_rad_s":0.0005242901388555765,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01874540187418461,"velocity_rad_s":-0.000924826948903501,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.30713704228401184,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009007875807583332,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.955078125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0058388663455843925,"velocity_rad_s":0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6070302724838257,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3097204864025116,"velocity_rad_s":-0.0062589081935584545,"acceleration_raw":0.0,"estimated_torque_nm":2.7178657054901123,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.018202945590019226,"velocity_rad_s":-0.011082467623054981,"acceleration_raw":0.0,"estimated_torque_nm":0.022234443575143814,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009360934607684612,"velocity_rad_s":-0.25883856415748596,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":-0.0021874012891203165,"velocity_rad_s":0.06515366584062576,"acceleration_raw":0.0,"estimated_torque_nm":-0.39547836780548096,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02733604423701763,"velocity_rad_s":0.05843991041183472,"acceleration_raw":0.0,"estimated_torque_nm":1.2218157052993774,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28638702630996704,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20283301174640656,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00529702752828598,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791111946105957,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022074943408370018,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007813714444637299,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23457922041416168,"velocity_rad_s":1.2578643560409546,"acceleration_raw":0.0,"estimated_torque_nm":-3.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17584453523159027,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03947603702545166,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8410529494285583,"velocity_rad_s":0.31753402948379517,"acceleration_raw":0.0,"estimated_torque_nm":-2.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0264851376414299,"velocity_rad_s":1.055378794670105,"acceleration_raw":0.0,"estimated_torque_nm":-0.862500011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01378185860812664,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787971257504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810058,"imu":{"quaternion":[0.9908499717712402,-0.0013302041916176677,0.008371705189347267,0.13470162451267242],"gyroscope":[0.04793689399957657,0.1853559911251068,-0.2833603024482727],"accelerometer":[-1.8154034614562988,-0.6320692300796509,9.29069995880127],"rpy":[-0.00038075557677075267,0.016949381679296494,0.2702312469482422],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.31287240982055664,"velocity_rad_s":-0.3239767551422119,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01607270911335945,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013940962962806225,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6422181129455566,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3296210467815399,"velocity_rad_s":0.006291718687862158,"acceleration_raw":0.0,"estimated_torque_nm":5.047119140625,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01849113591015339,"velocity_rad_s":-0.007382250856608152,"acceleration_raw":0.0,"estimated_torque_nm":-2.4257609844207764,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3142103850841522,"velocity_rad_s":-0.493055522441864,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009255017153918743,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0033077981788665056,"velocity_rad_s":0.21941281855106354,"acceleration_raw":0.0,"estimated_torque_nm":-2.349076747894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6076012849807739,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-9.84375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3093162775039673,"velocity_rad_s":0.0520661324262619,"acceleration_raw":0.0,"estimated_torque_nm":2.1724343299865723,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01730007492005825,"velocity_rad_s":-0.09050671011209488,"acceleration_raw":0.0,"estimated_torque_nm":-0.18878568708896637,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001566851744428277,"velocity_rad_s":-0.4371115267276764,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005648018792271614,"velocity_rad_s":0.3011143207550049,"acceleration_raw":0.0,"estimated_torque_nm":-1.875138282775879,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.022379979491233826,"velocity_rad_s":0.17549046874046326,"acceleration_raw":0.0,"estimated_torque_nm":-0.15443624556064606,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.288592129945755,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20322848856449127,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.981256365776062,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.25755298137664795,"velocity_rad_s":0.7424467206001282,"acceleration_raw":0.0,"estimated_torque_nm":-4.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17705494165420532,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03832555189728737,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8552781939506531,"velocity_rad_s":0.47093212604522705,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.007873635739088058,"velocity_rad_s":0.644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013877732679247856,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787973468896,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810059,"imu":{"quaternion":[0.990868866443634,-0.0013310282956808805,0.008476579561829567,0.13455620408058167],"gyroscope":[0.045806366950273514,0.1864212602376938,-0.29401296377182007],"accelerometer":[-1.754351258277893,-0.6329670548439026,9.540295600891113],"rpy":[-0.00035664887400344014,0.01715739630162716,0.2699381411075592],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.31331557035446167,"velocity_rad_s":-0.3076142966747284,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01606418751180172,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013954355381429195,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6422181129455566,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3296087682247162,"velocity_rad_s":0.009437222965061665,"acceleration_raw":0.0,"estimated_torque_nm":5.047119140625,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018469467759132385,"velocity_rad_s":-0.016646886244416237,"acceleration_raw":0.0,"estimated_torque_nm":-2.4257609844207764,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31492626667022705,"velocity_rad_s":-0.4876013696193695,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009289105422794819,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0031872710678726435,"velocity_rad_s":0.20569951832294464,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6076779365539551,"velocity_rad_s":0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-9.84375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3092576563358307,"velocity_rad_s":0.0627254769206047,"acceleration_raw":0.0,"estimated_torque_nm":2.1724343299865723,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.017212534323334694,"velocity_rad_s":-0.09988490492105484,"acceleration_raw":0.0,"estimated_torque_nm":-0.18878568708896637,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0019284329609945416,"velocity_rad_s":-0.4782513976097107,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006065406370908022,"velocity_rad_s":0.2962636947631836,"acceleration_raw":0.0,"estimated_torque_nm":-2.023390293121338,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.022161340340971947,"velocity_rad_s":0.16361522674560547,"acceleration_raw":0.0,"estimated_torque_nm":-0.23112817108631134,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28865206241607666,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20331238210201263,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9813642501831055,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022722091525793076,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2585356831550598,"velocity_rad_s":0.7225049734115601,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17705494165420532,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03827761486172676,"velocity_rad_s":-0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8556017875671387,"velocity_rad_s":0.4617282450199127,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.6504078507423401,"acceleration_raw":0.0,"estimated_torque_nm":-0.862500011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787977951040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810059,"imu":{"quaternion":[0.9908882975578308,-0.0013313612435013056,0.008585406467318535,0.13440600037574768],"gyroscope":[0.04793689399957657,0.19387809932231903,-0.30360034108161926],"accelerometer":[-1.6879122257232666,-0.6257844567298889,9.731532096862793],"rpy":[-0.00033065033494494855,0.017373118549585342,0.2696353495121002],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3135286271572113,"velocity_rad_s":-0.2977968156337738,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01607270911335945,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013994530774652958,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6422266364097595,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32958826422691345,"velocity_rad_s":0.007864588871598244,"acceleration_raw":0.0,"estimated_torque_nm":5.594844341278076,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018462354317307472,"velocity_rad_s":-0.010156731121242046,"acceleration_raw":0.0,"estimated_torque_nm":-2.3225858211517334,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3152671456336975,"velocity_rad_s":-0.49414634704589844,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009297627955675125,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002946217078715563,"velocity_rad_s":0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":-2.349076747894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6077120304107666,"velocity_rad_s":0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-9.31640625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30919918417930603,"velocity_rad_s":0.06849317997694016,"acceleration_raw":0.0,"estimated_torque_nm":2.7160074710845947,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0171394944190979,"velocity_rad_s":-0.09343916922807693,"acceleration_raw":0.0,"estimated_torque_nm":-0.1843387931585312,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0023034061305224895,"velocity_rad_s":-0.5313904285430908,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006247545126825571,"velocity_rad_s":0.2778089940547943,"acceleration_raw":0.0,"estimated_torque_nm":-2.0244109630584717,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.022073933854699135,"velocity_rad_s":0.15178529918193817,"acceleration_raw":0.0,"estimated_torque_nm":-0.5375011563301086,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2886640429496765,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20336031913757324,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9814960360527039,"velocity_rad_s":0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022770028561353683,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.25905102491378784,"velocity_rad_s":0.6933593153953552,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17707891762256622,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03815777227282524,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.856177031993866,"velocity_rad_s":0.44025251269340515,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.006759102921932936,"velocity_rad_s":0.6872234344482422,"acceleration_raw":0.0,"estimated_torque_nm":-0.862500011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013877732679247856,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787978615808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810060,"imu":{"quaternion":[0.9908882975578308,-0.0013313612435013056,0.008585406467318535,0.13440600037574768],"gyroscope":[0.04793689399957657,0.19387809932231903,-0.30360034108161926],"accelerometer":[-1.6879122257232666,-0.6257844567298889,9.731532096862793],"rpy":[-0.00033065033494494855,0.017373118549585342,0.2696353495121002],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3137161135673523,"velocity_rad_s":-0.3032509684562683,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016081232577562332,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013994530774652958,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6422863006591797,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32952681183815,"velocity_rad_s":0.027790933847427368,"acceleration_raw":0.0,"estimated_torque_nm":5.960531234741211,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01848459802567959,"velocity_rad_s":0.006719263270497322,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226091861724854,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3155995011329651,"velocity_rad_s":-0.47451141476631165,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009297627955675125,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027989062946289778,"velocity_rad_s":0.21084201335906982,"acceleration_raw":0.0,"estimated_torque_nm":-2.349076747894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6078824996948242,"velocity_rad_s":0.1178097352385521,"acceleration_raw":0.0,"estimated_torque_nm":-9.228515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3090193569660187,"velocity_rad_s":0.09249568730592728,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.016884053125977516,"velocity_rad_s":-0.11686084419488907,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.002718554809689522,"velocity_rad_s":-0.5365329384803772,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006429695524275303,"velocity_rad_s":0.26518714427948,"acceleration_raw":0.0,"estimated_torque_nm":-1.9262564182281494,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.022006087005138397,"velocity_rad_s":0.13618075847625732,"acceleration_raw":0.0,"estimated_torque_nm":-0.6906219124794006,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28867602348327637,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2034202367067337,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9815799593925476,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02280598133802414,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00782569870352745,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2595423758029938,"velocity_rad_s":0.6826214790344238,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17712685465812683,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03808586671948433,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8563927412033081,"velocity_rad_s":0.401902973651886,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.006255765445530415,"velocity_rad_s":0.6810874938964844,"acceleration_raw":0.0,"estimated_torque_nm":-0.887499988079071,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013877732679247856,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787979245600,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810061,"imu":{"quaternion":[0.9909287691116333,-0.0013218962121754885,0.008813555352389812,0.13409270346164703],"gyroscope":[0.06285059452056885,0.20666128396987915,-0.3206445574760437],"accelerometer":[-1.4302362203598022,-0.6787561774253845,9.903914451599121],"rpy":[-0.00025618370273150504,0.017822669818997383,0.2690041661262512],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3139035999774933,"velocity_rad_s":-0.2716168761253357,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01612384244799614,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014007923193275928,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6423288583755493,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32940804958343506,"velocity_rad_s":0.06029893830418587,"acceleration_raw":0.0,"estimated_torque_nm":6.0523552894592285,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018391193822026253,"velocity_rad_s":-0.019036786630749702,"acceleration_raw":0.0,"estimated_torque_nm":-2.374220132827759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3158722221851349,"velocity_rad_s":-0.42869651317596436,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009306150488555431,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0026649872306734324,"velocity_rad_s":0.19541454315185547,"acceleration_raw":0.0,"estimated_torque_nm":-2.4050071239471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6079506874084473,"velocity_rad_s":0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-9.228515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30889424681663513,"velocity_rad_s":0.10905943810939789,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.016752399504184723,"velocity_rad_s":-0.1365026831626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0033881496638059616,"velocity_rad_s":-0.503963828086853,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0066498080268502235,"velocity_rad_s":0.2836596369743347,"acceleration_raw":0.0,"estimated_torque_nm":-2.024829864501953,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.021943269297480583,"velocity_rad_s":0.11650768667459488,"acceleration_raw":0.0,"estimated_torque_nm":-0.5375014543533325,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2887119650840759,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2034681737422943,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9816518425941467,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022829949855804443,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26006966829299927,"velocity_rad_s":0.6856894493103027,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1771627962589264,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03803792968392372,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8565844893455505,"velocity_rad_s":0.3604854941368103,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.7117671370506287,"acceleration_raw":0.0,"estimated_torque_nm":-0.8999999761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787980860832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810062,"imu":{"quaternion":[0.9909497499465942,-0.0013164329575374722,0.008929475210607052,0.13392969965934753],"gyroscope":[0.06178532913327217,0.20772653818130493,-0.3291666805744171],"accelerometer":[-1.314416766166687,-0.6545149087905884,10.175058364868164],"rpy":[-0.0002172293607145548,0.018050922080874443,0.2686757445335388],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.314227432012558,"velocity_rad_s":-0.23016531765460968,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016174975782632828,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014021314680576324,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6423459053039551,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3293342888355255,"velocity_rad_s":0.07235844433307648,"acceleration_raw":0.0,"estimated_torque_nm":6.051549911499023,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018362730741500854,"velocity_rad_s":-0.027302952483296394,"acceleration_raw":0.0,"estimated_torque_nm":-2.271009922027588,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31630682945251465,"velocity_rad_s":-0.3239767551422119,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0093317162245512,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0025578520726412535,"velocity_rad_s":0.20912784337997437,"acceleration_raw":0.0,"estimated_torque_nm":-2.4050071239471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6080273985862732,"velocity_rad_s":0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-9.228515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.308773010969162,"velocity_rad_s":0.12149615585803986,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01658451370894909,"velocity_rad_s":-0.16910262405872345,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.003736338810995221,"velocity_rad_s":-0.4902505576610565,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00689270906150341,"velocity_rad_s":0.2914382815361023,"acceleration_raw":0.0,"estimated_torque_nm":-2.024829864501953,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.021905140951275826,"velocity_rad_s":0.1089656800031662,"acceleration_raw":0.0,"estimated_torque_nm":-0.5375014543533325,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2887479364871979,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20356404781341553,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9817477464675903,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02287788689136505,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2610044479370117,"velocity_rad_s":0.6718835830688477,"acceleration_raw":0.0,"estimated_torque_nm":-4.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1771867722272873,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03796602413058281,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8567402958869934,"velocity_rad_s":0.3267379105091095,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.004506068769842386,"velocity_rad_s":0.748582661151886,"acceleration_raw":0.0,"estimated_torque_nm":-0.9125000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787982741248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810063,"imu":{"quaternion":[0.9909497499465942,-0.0013164329575374722,0.008929475210607052,0.13392969965934753],"gyroscope":[0.06178532913327217,0.20772653818130493,-0.3291666805744171],"accelerometer":[-1.314416766166687,-0.6545149087905884,10.175058364868164],"rpy":[-0.0002172293607145548,0.018050922080874443,0.2686757445335388],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.31438934803009033,"velocity_rad_s":-0.1952587217092514,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016277240589261055,"velocity_rad_s":-0.07853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013994530774652958,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6423714756965637,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3292728662490845,"velocity_rad_s":0.07497929781675339,"acceleration_raw":0.0,"estimated_torque_nm":6.143374443054199,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01831240765750408,"velocity_rad_s":-0.04121626913547516,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226208686828613,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31644317507743835,"velocity_rad_s":-0.27379855513572693,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0093317162245512,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023034061305224895,"velocity_rad_s":0.22626948356628418,"acceleration_raw":0.0,"estimated_torque_nm":-2.4609375,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6081040501594543,"velocity_rad_s":0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-9.228515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30863916873931885,"velocity_rad_s":0.14074371755123138,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01639476791024208,"velocity_rad_s":-0.1934097409248352,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004111311864107847,"velocity_rad_s":-0.48853638768196106,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0073025040328502655,"velocity_rad_s":0.30017489194869995,"acceleration_raw":0.0,"estimated_torque_nm":-2.123495578765869,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.021691668778657913,"velocity_rad_s":0.12207324057817459,"acceleration_raw":0.0,"estimated_torque_nm":-0.5375671982765198,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2887718975543976,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20361198484897614,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9818196296691895,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0228659026324749,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26151975989341736,"velocity_rad_s":0.6780195236206055,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1771867722272873,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03783419728279114,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8568961024284363,"velocity_rad_s":0.30833014845848083,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.003942809998989105,"velocity_rad_s":0.748582661151886,"acceleration_raw":0.0,"estimated_torque_nm":-0.925000011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787984652416,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810064,"imu":{"quaternion":[0.9909713864326477,-0.001312900218181312,0.009043702855706215,0.13376197218894958],"gyroscope":[0.05752427130937576,0.20559601485729218,-0.3387540578842163],"accelerometer":[-1.2749123573303223,-0.6203975081443787,10.43004035949707],"rpy":[-0.00018271664157509804,0.01827635057270527,0.26833781599998474],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3145342469215393,"velocity_rad_s":-0.21162118017673492,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016319850459694862,"velocity_rad_s":-0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013994530774652958,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6423970460891724,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3292278051376343,"velocity_rad_s":0.06868532299995422,"acceleration_raw":0.0,"estimated_torque_nm":6.143374443054199,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018232936039566994,"velocity_rad_s":-0.06913290917873383,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226208686828613,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31657102704048157,"velocity_rad_s":-0.20398537814617157,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009348760358989239,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0021828790195286274,"velocity_rad_s":0.21427033841609955,"acceleration_raw":0.0,"estimated_torque_nm":-2.4609375,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6082489490509033,"velocity_rad_s":0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":-9.228515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3083709180355072,"velocity_rad_s":0.15744416415691376,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.015942754223942757,"velocity_rad_s":-0.22976097464561462,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004432717338204384,"velocity_rad_s":-0.4902505576610565,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00752251036465168,"velocity_rad_s":0.3049362003803253,"acceleration_raw":0.0,"estimated_torque_nm":-2.125079870223999,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02157065086066723,"velocity_rad_s":0.1384945511817932,"acceleration_raw":0.0,"estimated_torque_nm":-0.6922367811203003,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28878387808799744,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036719024181366,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9819514751434326,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022901853546500206,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2619871497154236,"velocity_rad_s":0.6611457467079163,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17724668979644775,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03778626397252083,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8571597337722778,"velocity_rad_s":0.2653786838054657,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0033316146582365036,"velocity_rad_s":0.7669904232025146,"acceleration_raw":0.0,"estimated_torque_nm":-0.9437500238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.0138417799025774,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787986519904,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810065,"imu":{"quaternion":[0.991016685962677,-0.0013053470756858587,0.009263613261282444,0.13341067731380463],"gyroscope":[0.05752427130937576,0.194943368434906,-0.36112460494041443],"accelerometer":[-1.2982559204101562,-0.6509236097335815,9.8877534866333],"rpy":[-0.00011553170043043792,0.018710175529122353,0.2676299810409546],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3146791160106659,"velocity_rad_s":-0.2148936688899994,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016379505395889282,"velocity_rad_s":-0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013994530774652958,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6423970460891724,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3291540741920471,"velocity_rad_s":0.06448981910943985,"acceleration_raw":0.0,"estimated_torque_nm":6.0523552894592285,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018102869391441345,"velocity_rad_s":-0.08031266182661057,"acceleration_raw":0.0,"estimated_torque_nm":-2.374220132827759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31662216782569885,"velocity_rad_s":-0.15271632373332977,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009357282891869545,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020623519085347652,"velocity_rad_s":0.18341541290283203,"acceleration_raw":0.0,"estimated_torque_nm":-2.4609375,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6083086133003235,"velocity_rad_s":0.11126474291086197,"acceleration_raw":0.0,"estimated_torque_nm":-9.228515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30822843313217163,"velocity_rad_s":0.1677338182926178,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.015709396451711655,"velocity_rad_s":-0.2586286962032318,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00512909609824419,"velocity_rad_s":-0.4816797375679016,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0077349101193249226,"velocity_rad_s":0.3049212098121643,"acceleration_raw":0.0,"estimated_torque_nm":-2.224520683288574,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.021434979513287544,"velocity_rad_s":0.1547449380159378,"acceleration_raw":0.0,"estimated_torque_nm":-0.845723032951355,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.288819819688797,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20373183488845825,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9820233583450317,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022961774840950966,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2624785006046295,"velocity_rad_s":0.6657477021217346,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17727066576480865,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03773832693696022,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8573035597801208,"velocity_rad_s":0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.002217081608250737,"velocity_rad_s":0.7424467206001282,"acceleration_raw":0.0,"estimated_torque_nm":-0.96875,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787988408384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810066,"imu":{"quaternion":[0.9910401701927185,-0.001299060881137848,0.00936798844486475,0.13322913646697998],"gyroscope":[0.06072006747126579,0.1864212602376938,-0.3664509356021881],"accelerometer":[-1.2982559204101562,-0.6509236097335815,9.8877534866333],"rpy":[-7.867915701353922e-05,0.01891537941992283,0.26726415753364563],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.31497737765312195,"velocity_rad_s":-0.22252948582172394,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01643063873052597,"velocity_rad_s":-0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013981139287352562,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424055695533752,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3291090130805969,"velocity_rad_s":0.06606245040893555,"acceleration_raw":0.0,"estimated_torque_nm":6.0523552894592285,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.018023397773504257,"velocity_rad_s":-0.08680281043052673,"acceleration_raw":0.0,"estimated_torque_nm":-2.374220132827759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.316656231880188,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009374327026307583,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001941824913956225,"velocity_rad_s":0.19541454315185547,"acceleration_raw":0.0,"estimated_torque_nm":-2.4609375,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6083682775497437,"velocity_rad_s":0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":-9.140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3080861270427704,"velocity_rad_s":0.1646195501089096,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.015490575693547726,"velocity_rad_s":-0.26602649688720703,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00542371766641736,"velocity_rad_s":-0.4696805775165558,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007954861037433147,"velocity_rad_s":0.29615363478660583,"acceleration_raw":0.0,"estimated_torque_nm":-2.2742409706115723,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.021255401894450188,"velocity_rad_s":0.18041378259658813,"acceleration_raw":0.0,"estimated_torque_nm":-0.9224661588668823,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2888677716255188,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20377977192401886,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9820953011512756,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023009711876511574,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00782569870352745,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26336532831192017,"velocity_rad_s":0.630466103553772,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17729462683200836,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03767840564250946,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8574233651161194,"velocity_rad_s":0.22549518942832947,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0015819177497178316,"velocity_rad_s":0.7608544826507568,"acceleration_raw":0.0,"estimated_torque_nm":-0.96875,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013877732679247856,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787990276800,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810067,"imu":{"quaternion":[0.9910401701927185,-0.001299060881137848,0.00936798844486475,0.13322913646697998],"gyroscope":[0.06072006747126579,0.1864212602376938,-0.3664509356021881],"accelerometer":[-1.2982559204101562,-0.6509236097335815,9.8877534866333],"rpy":[-7.867915701353922e-05,0.01891537941992283,0.26726415753364563],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3151222765445709,"velocity_rad_s":-0.2105303555727005,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01654142513871193,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014021314680576324,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424140930175781,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32907214760780334,"velocity_rad_s":0.06763485074043274,"acceleration_raw":0.0,"estimated_torque_nm":6.0523552894592285,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017958372831344604,"velocity_rad_s":-0.09700863808393478,"acceleration_raw":0.0,"estimated_torque_nm":-2.374220132827759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31662216782569885,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009408415295183659,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001673986902460456,"velocity_rad_s":0.22626948356628418,"acceleration_raw":0.0,"estimated_torque_nm":-2.5168678760528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6084449291229248,"velocity_rad_s":0.11453723162412643,"acceleration_raw":0.0,"estimated_torque_nm":-9.140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30795228481292725,"velocity_rad_s":0.16876178979873657,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.015300828963518143,"velocity_rad_s":-0.254925012588501,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.005745123140513897,"velocity_rad_s":-0.45253896713256836,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00845552422106266,"velocity_rad_s":0.3097412884235382,"acceleration_raw":0.0,"estimated_torque_nm":-2.3736753463745117,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02093525230884552,"velocity_rad_s":0.20057949423789978,"acceleration_raw":0.0,"estimated_torque_nm":-1.0746623277664185,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2889156937599182,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20388762652873993,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9821192622184753,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023009711876511574,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007837682962417603,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26377278566360474,"velocity_rad_s":0.6120583415031433,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17733058333396912,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0375945158302784,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8575552105903625,"velocity_rad_s":0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0010546118719503284,"velocity_rad_s":0.7056311964988708,"acceleration_raw":0.0,"estimated_torque_nm":-0.956250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013877732679247856,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787992486464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810068,"imu":{"quaternion":[0.9910643696784973,-0.0012926585040986538,0.009466440416872501,0.13304178416728973],"gyroscope":[0.059654802083969116,0.17576861381530762,-0.37816882133483887],"accelerometer":[-0.9445125460624695,-0.6949170231819153,10.283695220947266],"rpy":[-4.335911580710672e-05,0.01910882256925106,0.2668866813182831],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3152756690979004,"velocity_rad_s":-0.22252948582172394,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016584036871790886,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014021314680576324,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424396634101868,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32902300357818604,"velocity_rad_s":0.06501328200101852,"acceleration_raw":0.0,"estimated_torque_nm":5.960531234741211,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017871679738163948,"velocity_rad_s":-0.09424234181642532,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226091861724854,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31657102704048157,"velocity_rad_s":0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009425459429621696,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0015802436973899603,"velocity_rad_s":0.20912784337997437,"acceleration_raw":0.0,"estimated_torque_nm":-2.5168678760528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6085557341575623,"velocity_rad_s":0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-9.228515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30770939588546753,"velocity_rad_s":0.17034170031547546,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.014921540394425392,"velocity_rad_s":-0.25401097536087036,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.006026353221386671,"velocity_rad_s":-0.4371115267276764,"acceleration_raw":0.0,"estimated_torque_nm":2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.008675494231283665,"velocity_rad_s":0.318482369184494,"acceleration_raw":0.0,"estimated_torque_nm":-2.3744332790374756,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.020775018259882927,"velocity_rad_s":0.20366491377353668,"acceleration_raw":0.0,"estimated_torque_nm":-1.2278809547424316,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28895166516304016,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039475440979004,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822031259536743,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02304566465318203,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007813714444637299,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2641562819480896,"velocity_rad_s":0.6043884754180908,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17734256386756897,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03755856305360794,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.857830822467804,"velocity_rad_s":0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0005153216770850122,"velocity_rad_s":0.7056311964988708,"acceleration_raw":0.0,"estimated_torque_nm":-0.9437500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787994777312,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810069,"imu":{"quaternion":[0.991115152835846,-0.0012773136841133237,0.009644228965044022,0.132651224732399],"gyroscope":[0.059654802083969116,0.1533980667591095,-0.3994741141796112],"accelerometer":[-0.6302735805511475,-0.9292495250701904,10.539575576782227],"rpy":[2.6712819817475975e-05,0.01945718564093113,0.2660996615886688],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3154120147228241,"velocity_rad_s":-0.23452861607074738,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01661812514066696,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014021314680576324,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424481868743896,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32893696427345276,"velocity_rad_s":0.06081895902752876,"acceleration_raw":0.0,"estimated_torque_nm":5.960531234741211,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017748981714248657,"velocity_rad_s":-0.08684372901916504,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226091861724854,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31648579239845276,"velocity_rad_s":0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009442503564059734,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0014463247498497367,"velocity_rad_s":0.21255618333816528,"acceleration_raw":0.0,"estimated_torque_nm":-2.5168678760528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6086324453353882,"velocity_rad_s":0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":-9.228515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30758431553840637,"velocity_rad_s":0.1660475879907608,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.014789886772632599,"velocity_rad_s":-0.24654650688171387,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.006615596357733011,"velocity_rad_s":-0.41654151678085327,"acceleration_raw":0.0,"estimated_torque_nm":2.349076747894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.008925826288759708,"velocity_rad_s":0.31167423725128174,"acceleration_raw":0.0,"estimated_torque_nm":-2.3744332790374756,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02061493508517742,"velocity_rad_s":0.21183310449123383,"acceleration_raw":0.0,"estimated_torque_nm":-1.2278809547424316,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28895166516304016,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822390675544739,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023093601688742638,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00782569870352745,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26451581716537476,"velocity_rad_s":0.5813787579536438,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17736653983592987,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.037522610276937485,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8579506874084473,"velocity_rad_s":0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.0004793690168298781,"velocity_rad_s":0.6626797318458557,"acceleration_raw":0.0,"estimated_torque_nm":-0.9437500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787996765664,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810070,"imu":{"quaternion":[0.991115152835846,-0.0012773136841133237,0.009644228965044022,0.132651224732399],"gyroscope":[0.059654802083969116,0.1533980667591095,-0.3994741141796112],"accelerometer":[-0.6302735805511475,-0.9292495250701904,10.539575576782227],"rpy":[2.6712819817475975e-05,0.01945718564093113,0.2660996615886688],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.31571027636528015,"velocity_rad_s":-0.2050761878490448,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01667778007686138,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014034707099199295,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424567103385925,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3289000988006592,"velocity_rad_s":0.06658603250980377,"acceleration_raw":0.0,"estimated_torque_nm":5.960531234741211,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017683956772089005,"velocity_rad_s":-0.09887465834617615,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226091861724854,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31629830598831177,"velocity_rad_s":0.14508049190044403,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009468070231378078,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0013257976388558745,"velocity_rad_s":0.1937003880739212,"acceleration_raw":0.0,"estimated_torque_nm":-2.5168678760528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.608717679977417,"velocity_rad_s":0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":-9.31640625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30747589468955994,"velocity_rad_s":0.15994572639465332,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.014672882854938507,"velocity_rad_s":-0.2121470868587494,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.006923609878867865,"velocity_rad_s":-0.41654151678085327,"acceleration_raw":0.0,"estimated_torque_nm":2.349076747894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00908508338034153,"velocity_rad_s":0.2834988534450531,"acceleration_raw":0.0,"estimated_torque_nm":-2.4241530895233154,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.020464178174734116,"velocity_rad_s":0.21259817481040955,"acceleration_raw":0.0,"estimated_torque_nm":-1.3045347929000854,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28901156783103943,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822510480880737,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02311757020652294,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007813714444637299,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2652228772640228,"velocity_rad_s":0.5338253378868103,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17740248143672943,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03748665750026703,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8580945134162903,"velocity_rad_s":0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.0009467537747696042,"velocity_rad_s":0.6565437912940979,"acceleration_raw":0.0,"estimated_torque_nm":-0.9437500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":787998700096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810071,"imu":{"quaternion":[0.9911410808563232,-0.0012689201394096017,0.009722466580569744,0.1324511468410492],"gyroscope":[0.059654802083969116,0.1395496279001236,-0.4037351608276367],"accelerometer":[-0.6302735805511475,-0.9292495250701904,10.539575576782227],"rpy":[6.015753751853481e-05,0.019610069692134857,0.2656964361667633],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3158722221851349,"velocity_rad_s":-0.20834869146347046,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01678004488348961,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":0.07542315870523453,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424652338027954,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32885506749153137,"velocity_rad_s":0.06920748203992844,"acceleration_raw":0.0,"estimated_torque_nm":5.960531234741211,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017604485154151917,"velocity_rad_s":-0.10349879413843155,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226091861724854,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3161790072917938,"velocity_rad_s":0.15817047655582428,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009527725167572498,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":3.251953125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0010579597437754273,"velocity_rad_s":0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":-2.572798252105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6087858080863953,"velocity_rad_s":0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":-9.31640625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3073589503765106,"velocity_rad_s":0.16427022218704224,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01452680304646492,"velocity_rad_s":-0.2233247607946396,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007218231912702322,"velocity_rad_s":-0.43196901679039,"acceleration_raw":0.0,"estimated_torque_nm":2.4050071239471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.009479527361690998,"velocity_rad_s":0.26494136452674866,"acceleration_raw":0.0,"estimated_torque_nm":-2.377366304397583,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.020202212035655975,"velocity_rad_s":0.2038240134716034,"acceleration_raw":0.0,"estimated_torque_nm":-1.3844534158706665,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890355587005615,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20422318577766418,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005081311333924532,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822990298271179,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023129554465413094,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007813714444637299,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2656063735485077,"velocity_rad_s":0.5292233824729919,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17747439444065094,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03742673620581627,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8582262992858887,"velocity_rad_s":0.2070874124765396,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.0014381069922819734,"velocity_rad_s":0.6258642077445984,"acceleration_raw":0.0,"estimated_torque_nm":-0.925000011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013877732679247856,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788000653888,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810072,"imu":{"quaternion":[0.9911673665046692,-0.0012589747784659266,0.009797110222280025,0.1322489082813263],"gyroscope":[0.06178532913327217,0.13315804302692413,-0.4079962372779846],"accelerometer":[-0.6203975081443787,-0.6625953316688538,10.103231430053711],"rpy":[9.56235671765171e-05,0.01975543424487114,0.26528891921043396],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.31602561473846436,"velocity_rad_s":-0.21271201968193054,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01678856648504734,"velocity_rad_s":-0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014208801090717316,"velocity_rad_s":0.10113560408353806,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424567103385925,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3288182020187378,"velocity_rad_s":0.06291552633047104,"acceleration_raw":0.0,"estimated_torque_nm":5.960531234741211,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017539460211992264,"velocity_rad_s":-0.0998322144150734,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226091861724854,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.31606820225715637,"velocity_rad_s":0.16689711809158325,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009578857570886612,"velocity_rad_s":0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0009374326909892261,"velocity_rad_s":0.19027206301689148,"acceleration_raw":0.0,"estimated_torque_nm":-2.572798252105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.60894775390625,"velocity_rad_s":0.1276272088289261,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3071872591972351,"velocity_rad_s":0.14772164821624756,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.014256934635341167,"velocity_rad_s":-0.2055395096540451,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007553029339760542,"velocity_rad_s":-0.45425310730934143,"acceleration_raw":0.0,"estimated_torque_nm":2.4609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.009646320715546608,"velocity_rad_s":0.25425997376441956,"acceleration_raw":0.0,"estimated_torque_nm":-2.427191972732544,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.020066631957888603,"velocity_rad_s":0.2007676213979721,"acceleration_raw":0.0,"estimated_torque_nm":-1.4612702131271362,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28905951976776123,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20428310334682465,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005081311333924532,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9823948740959167,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023153522983193398,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007801730651408434,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26594194769859314,"velocity_rad_s":0.5077476501464844,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17749835550785065,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03741475194692612,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8585379123687744,"velocity_rad_s":0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.0019294602097943425,"velocity_rad_s":0.6258642077445984,"acceleration_raw":0.0,"estimated_torque_nm":-0.9437500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788002616608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810073,"imu":{"quaternion":[0.9911941289901733,-0.0012472734088078141,0.009868641383945942,0.13204297423362732],"gyroscope":[0.06391585618257523,0.12676645815372467,-0.41545307636260986],"accelerometer":[-0.9750386476516724,-0.33848026394844055,9.786299705505371],"rpy":[0.00013361580204218626,0.019894180819392204,0.2648739516735077],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.31620457768440247,"velocity_rad_s":-0.22252948582172394,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01683969981968403,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014302544295787811,"velocity_rad_s":0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":-0.2796519994735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424567103385925,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3287280797958374,"velocity_rad_s":0.0639633983373642,"acceleration_raw":0.0,"estimated_torque_nm":5.960531234741211,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017409520223736763,"velocity_rad_s":-0.11282888799905777,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226091861724854,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3159489035606384,"velocity_rad_s":0.17889626324176788,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009612945839762688,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0007633380591869354,"velocity_rad_s":0.1937003880739212,"acceleration_raw":0.0,"estimated_torque_nm":-2.572798252105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609015941619873,"velocity_rad_s":0.12653638422489166,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30709150433540344,"velocity_rad_s":0.14868886768817902,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.014176310040056705,"velocity_rad_s":-0.19440944492816925,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007861042395234108,"velocity_rad_s":-0.48510804772377014,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.009866229258477688,"velocity_rad_s":0.2581484019756317,"acceleration_raw":0.0,"estimated_torque_nm":-2.4760663509368896,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01992650330066681,"velocity_rad_s":0.19824546575546265,"acceleration_raw":0.0,"estimated_torque_nm":-1.3845701217651367,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890715003013611,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20435500144958496,"velocity_rad_s":0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00506932707503438,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9824308156967163,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0231774915009737,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00777776213362813,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2662774920463562,"velocity_rad_s":0.5016117095947266,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1775343120098114,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03739078342914581,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8587056994438171,"velocity_rad_s":0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.0028402614407241344,"velocity_rad_s":0.5890486240386963,"acceleration_raw":0.0,"estimated_torque_nm":-0.925000011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788004223488,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810074,"imu":{"quaternion":[0.9912210702896118,-0.0012375264195725322,0.009937520138919353,0.1318349540233612],"gyroscope":[0.05858953669667244,0.12250539660453796,-0.41971415281295776],"accelerometer":[-0.8026561141014099,-0.19572599232196808,9.33469295501709],"rpy":[0.00016693395446054637,0.020028196275234222,0.26445475220680237],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3165198862552643,"velocity_rad_s":-0.2203478217124939,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01684822142124176,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014396287500858307,"velocity_rad_s":0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":-0.3355823755264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6424567103385925,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.328666627407074,"velocity_rad_s":0.07340073585510254,"acceleration_raw":0.0,"estimated_torque_nm":5.960531234741211,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.017272120341658592,"velocity_rad_s":-0.1276179403066635,"acceleration_raw":0.0,"estimated_torque_nm":-2.3226091861724854,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3157273232936859,"velocity_rad_s":0.15053464472293854,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.009612945839762688,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":3.251953125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0006160272168926895,"velocity_rad_s":0.22798363864421844,"acceleration_raw":0.0,"estimated_torque_nm":-2.6287286281585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609092652797699,"velocity_rad_s":0.123263880610466,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3070119321346283,"velocity_rad_s":0.1328745186328888,"acceleration_raw":0.0,"estimated_torque_nm":2.897198438644409,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.014052297919988632,"velocity_rad_s":-0.20169304311275482,"acceleration_raw":0.0,"estimated_torque_nm":-0.1828565001487732,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008410110138356686,"velocity_rad_s":-0.41654151678085327,"acceleration_raw":0.0,"estimated_torque_nm":2.5168678760528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.010048190131783485,"velocity_rad_s":0.2630186975002289,"acceleration_raw":0.0,"estimated_torque_nm":-2.5249311923980713,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01978120394051075,"velocity_rad_s":0.1915684938430786,"acceleration_raw":0.0,"estimated_torque_nm":-1.3062915802001953,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2890954613685608,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20437897741794586,"velocity_rad_s":0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00506932707503438,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9824907779693604,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023189475759863853,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00777776213362813,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26696059107780457,"velocity_rad_s":0.503145694732666,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17754629254341125,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8588495254516602,"velocity_rad_s":0.21935926377773285,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.0033555831760168076,"velocity_rad_s":0.6197282671928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.9437500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788006251552,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810098,"imu":{"quaternion":[0.9917856454849243,-0.0011892650509253144,0.010963255539536476,0.12743517756462097],"gyroscope":[0.014913700520992279,0.03941477835178375,-0.3195793032646179],"accelerometer":[0.05117605999112129,-1.1150994300842285,9.87697982788086],"rpy":[0.00043532263953238726,0.022051293402910233,0.2555857300758362],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32024404406547546,"velocity_rad_s":-0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018561167642474174,"velocity_rad_s":-0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015226585790514946,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.642422616481781,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32636958360671997,"velocity_rad_s":0.1165737733244896,"acceleration_raw":0.0,"estimated_torque_nm":6.377608776092529,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.014183790422976017,"velocity_rad_s":-0.1690937578678131,"acceleration_raw":0.0,"estimated_torque_nm":-2.167820453643799,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3202610909938812,"velocity_rad_s":-0.19853121042251587,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011632687412202358,"velocity_rad_s":0.1483529955148697,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0032274469267576933,"velocity_rad_s":0.22284114360809326,"acceleration_raw":0.0,"estimated_torque_nm":-3.299893617630005,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.608717679977417,"velocity_rad_s":-0.07853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3038589656352997,"velocity_rad_s":0.23137199878692627,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010015065781772137,"velocity_rad_s":-0.32729798555374146,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.017288938164711,"velocity_rad_s":-0.3925432562828064,"acceleration_raw":0.0,"estimated_torque_nm":3.7473366260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.015903303399682045,"velocity_rad_s":0.18493440747261047,"acceleration_raw":0.0,"estimated_torque_nm":-3.0334038734436035,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013698030263185501,"velocity_rad_s":0.2607760727405548,"acceleration_raw":0.0,"estimated_torque_nm":-2.3896236419677734,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28890371322631836,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20679979026317596,"velocity_rad_s":0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004985437728464603,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9832457304000854,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023800671100616455,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007729825098067522,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2743189036846161,"velocity_rad_s":0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-4.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17825336754322052,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036923397332429886,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8604793548583984,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.017197363078594208,"velocity_rad_s":0.5951845645904541,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788009095488,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810099,"imu":{"quaternion":[0.9918056726455688,-0.0011944436701014638,0.01098044402897358,0.12727750837802887],"gyroscope":[0.015978964045643806,0.04474110156297684,-0.31851401925086975],"accelerometer":[0.228047713637352,-1.0657190084457397,9.920075416564941],"rpy":[0.00042591895908117294,0.02208678051829338,0.2552677392959595],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3203122317790985,"velocity_rad_s":-0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018603777512907982,"velocity_rad_s":-0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015306936576962471,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6423799991607666,"velocity_rad_s":-0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3262830376625061,"velocity_rad_s":0.12026572972536087,"acceleration_raw":0.0,"estimated_torque_nm":6.559349060058594,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.014046559110283852,"velocity_rad_s":-0.18114124238491058,"acceleration_raw":0.0,"estimated_torque_nm":-2.167832136154175,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32043153047561646,"velocity_rad_s":-0.20180369913578033,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011743474751710892,"velocity_rad_s":0.17889626324176788,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003468500915914774,"velocity_rad_s":0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6086239218711853,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30365416407585144,"velocity_rad_s":0.2389160543680191,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009687499143183231,"velocity_rad_s":-0.3477536737918854,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01750320754945278,"velocity_rad_s":-0.38568660616874695,"acceleration_raw":0.0,"estimated_torque_nm":3.8591973781585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016115276142954826,"velocity_rad_s":0.21500001847743988,"acceleration_raw":0.0,"estimated_torque_nm":-2.884573221206665,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013495377264916897,"velocity_rad_s":0.27484795451164246,"acceleration_raw":0.0,"estimated_torque_nm":-2.312448501586914,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28883180022239685,"velocity_rad_s":-0.13038837909698486,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20688368380069733,"velocity_rad_s":0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049734534695744514,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9832577705383301,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02382463961839676,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007741809356957674,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2744387686252594,"velocity_rad_s":0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-4.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17825336754322052,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036911413073539734,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8605992197990417,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.017616810277104378,"velocity_rad_s":0.5951845645904541,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013937653973698616,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788011008992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810100,"imu":{"quaternion":[0.9918256998062134,-0.0012012181105092168,0.010996500961482525,0.12712045013904572],"gyroscope":[0.012783171609044075,0.04367583617568016,-0.31744876503944397],"accelerometer":[0.314238965511322,-0.8798691034317017,9.936236381530762],"rpy":[0.00041306338971480727,0.02212042734026909,0.25495097041130066],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32038894295692444,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01864638924598694,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015333720482885838,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6423373818397522,"velocity_rad_s":-0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3260689675807953,"velocity_rad_s":0.13895420730113983,"acceleration_raw":0.0,"estimated_torque_nm":6.65759801864624,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.013685314916074276,"velocity_rad_s":-0.2256430685520172,"acceleration_raw":0.0,"estimated_torque_nm":-2.223390579223633,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32061049342155457,"velocity_rad_s":-0.20943953096866608,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.011845740489661694,"velocity_rad_s":0.1636246144771576,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003562244353815913,"velocity_rad_s":0.2022712081670761,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.608572781085968,"velocity_rad_s":-0.09381145238876343,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30326101183891296,"velocity_rad_s":0.2551818788051605,"acceleration_raw":0.0,"estimated_torque_nm":3.619495391845703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009017953649163246,"velocity_rad_s":-0.4072132408618927,"acceleration_raw":0.0,"estimated_torque_nm":-0.18368789553642273,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.017757654190063477,"velocity_rad_s":-0.3839724659919739,"acceleration_raw":0.0,"estimated_torque_nm":3.915127992630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016327213495969772,"velocity_rad_s":0.22164271771907806,"acceleration_raw":0.0,"estimated_torque_nm":-2.9885385036468506,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013283086009323597,"velocity_rad_s":0.27831265330314636,"acceleration_raw":0.0,"estimated_torque_nm":-2.4723658561706543,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28875991702079773,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2069915384054184,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049734534695744514,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9832337498664856,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023860592395067215,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007729825098067522,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2745705842971802,"velocity_rad_s":0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":-4.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17822939157485962,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036911413073539734,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8606471419334412,"velocity_rad_s":0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.018443722277879715,"velocity_rad_s":0.5460971593856812,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788013880992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810101,"imu":{"quaternion":[0.9918456077575684,-0.001210251823067665,0.011008154600858688,0.12696285545825958],"gyroscope":[0.0074568502604961395,0.03621898591518402,-0.31851401925086975],"accelerometer":[0.314238965511322,-0.8798691034317017,9.936236381530762],"rpy":[0.0003945843200199306,0.02214590460062027,0.25463297963142395],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.320465624332428,"velocity_rad_s":-0.12435471266508102,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018697520717978477,"velocity_rad_s":-0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015360504388809204,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6422863006591797,"velocity_rad_s":-0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3259373903274536,"velocity_rad_s":0.14790117740631104,"acceleration_raw":0.0,"estimated_torque_nm":6.566239356994629,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.013468553312122822,"velocity_rad_s":-0.2413696050643921,"acceleration_raw":0.0,"estimated_torque_nm":-2.1717283725738525,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32089173793792725,"velocity_rad_s":-0.2148936688899994,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01193948369473219,"velocity_rad_s":0.14617133140563965,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003669379511848092,"velocity_rad_s":0.19027206301689148,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6085131168365479,"velocity_rad_s":-0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3030644953250885,"velocity_rad_s":0.2583828270435333,"acceleration_raw":0.0,"estimated_torque_nm":3.619495391845703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.008690420538187027,"velocity_rad_s":-0.41094788908958435,"acceleration_raw":0.0,"estimated_torque_nm":-0.18368789553642273,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.018199585378170013,"velocity_rad_s":-0.31883424520492554,"acceleration_raw":0.0,"estimated_torque_nm":3.7473366260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016531458124518394,"velocity_rad_s":0.23230071365833282,"acceleration_raw":0.0,"estimated_torque_nm":-3.038707971572876,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013066451996564865,"velocity_rad_s":0.2862921357154846,"acceleration_raw":0.0,"estimated_torque_nm":-2.5495357513427734,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28858014941215515,"velocity_rad_s":-0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20712336897850037,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004985437728464603,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9832217693328857,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023872576653957367,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007741809356957674,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27479827404022217,"velocity_rad_s":0.21629129350185394,"acceleration_raw":0.0,"estimated_torque_nm":-4.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17822939157485962,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03689942881464958,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8607310056686401,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01883920282125473,"velocity_rad_s":0.5399612784385681,"acceleration_raw":0.0,"estimated_torque_nm":-1.0499999523162842,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013937653973698616,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788014552480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810102,"imu":{"quaternion":[0.9918653964996338,-0.001221071812324226,0.01101773977279663,0.12680743634700775],"gyroscope":[0.0031957929022610188,0.03302319347858429,-0.31425297260284424],"accelerometer":[0.21278467774391174,-0.7128735780715942,9.96137523651123],"rpy":[0.00037207634886726737,0.02216772735118866,0.25431936979293823],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3206445872783661,"velocity_rad_s":-0.14508049190044403,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018731608986854553,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01538728829473257,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6422351598739624,"velocity_rad_s":-0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32580992579460144,"velocity_rad_s":0.15842702984809875,"acceleration_raw":0.0,"estimated_torque_nm":6.566239356994629,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.013244505040347576,"velocity_rad_s":-0.25987139344215393,"acceleration_raw":0.0,"estimated_torque_nm":-2.1717283725738525,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3210451304912567,"velocity_rad_s":-0.20725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":0.16035212576389313,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0037631227169185877,"velocity_rad_s":0.1799870729446411,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6084704995155334,"velocity_rad_s":-0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3028513193130493,"velocity_rad_s":0.2552768290042877,"acceleration_raw":0.0,"estimated_torque_nm":3.619495391845703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.008348268456757069,"velocity_rad_s":-0.42204463481903076,"acceleration_raw":0.0,"estimated_torque_nm":-0.18368789553642273,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.018427249044179916,"velocity_rad_s":-0.30854928493499756,"acceleration_raw":0.0,"estimated_torque_nm":3.69140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01693236269056797,"velocity_rad_s":0.23521065711975098,"acceleration_raw":0.0,"estimated_torque_nm":-3.0402207374572754,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.012628063559532166,"velocity_rad_s":0.2934512794017792,"acceleration_raw":0.0,"estimated_torque_nm":-2.700371026992798,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2884722948074341,"velocity_rad_s":-0.1457281857728958,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2073151171207428,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049494849517941475,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9832097887992859,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02388456091284752,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007741809356957674,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2748941481113434,"velocity_rad_s":0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":-4.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1782054305076599,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03688744455575943,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.860802948474884,"velocity_rad_s":0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05867476761341095,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.0192586500197649,"velocity_rad_s":0.5215535163879395,"acceleration_raw":0.0,"estimated_torque_nm":-1.0499999523162842,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013937653973698616,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788016831392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810103,"imu":{"quaternion":[0.9918850064277649,-0.0012297203065827489,0.011024825274944305,0.12665410339832306],"gyroscope":[0.0063915858045220375,0.027696872130036354,-0.3099919259548187],"accelerometer":[0.0933738648891449,-0.5674257874488831,10.049362182617188],"rpy":[0.00035328324884176254,0.022184034809470177,0.25401002168655396],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3207383453845978,"velocity_rad_s":-0.1385355144739151,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018731608986854553,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0154542475938797,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6421414017677307,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32567012310028076,"velocity_rad_s":0.16737009584903717,"acceleration_raw":0.0,"estimated_torque_nm":6.566239356994629,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.013013293966650963,"velocity_rad_s":-0.28117215633392334,"acceleration_raw":0.0,"estimated_torque_nm":-2.1717283725738525,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32117295265197754,"velocity_rad_s":-0.1941678822040558,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012288890779018402,"velocity_rad_s":0.14289884269237518,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0039506093598902225,"velocity_rad_s":0.16113129258155823,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6083682775497437,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30267980694770813,"velocity_rad_s":0.24632810056209564,"acceleration_raw":0.0,"estimated_torque_nm":3.529400587081909,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00804992113262415,"velocity_rad_s":-0.4303113520145416,"acceleration_raw":0.0,"estimated_torque_nm":-0.13255058228969574,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01865491084754467,"velocity_rad_s":-0.31883424520492554,"acceleration_raw":0.0,"estimated_torque_nm":3.7473366260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01709110662341118,"velocity_rad_s":0.22938784956932068,"acceleration_raw":0.0,"estimated_torque_nm":-3.0903892517089844,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01240098662674427,"velocity_rad_s":0.29350966215133667,"acceleration_raw":0.0,"estimated_torque_nm":-2.7774484157562256,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28835242986679077,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20743495225906372,"velocity_rad_s":0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049614692106842995,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9831738471984863,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023860592395067215,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007729825098067522,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27497804164886475,"velocity_rad_s":0.19481556117534637,"acceleration_raw":0.0,"estimated_torque_nm":-4.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1782054305076599,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03688744455575943,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8609707355499268,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01961817592382431,"velocity_rad_s":0.5276893973350525,"acceleration_raw":0.0,"estimated_torque_nm":-1.0499999523162842,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788018453312,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810104,"imu":{"quaternion":[0.9919041395187378,-0.0012347315205261111,0.011030742898583412,0.12650276720523834],"gyroscope":[0.012783171609044075,0.024501079693436623,-0.3057308495044708],"accelerometer":[0.0314238965511322,-0.5099649429321289,9.852738380432129],"rpy":[0.00034145251265726984,0.022197095677256584,0.2537047564983368],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32084059715270996,"velocity_rad_s":-0.1494438350200653,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018731608986854553,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015521206893026829,"velocity_rad_s":0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6420902609825134,"velocity_rad_s":-0.0818123072385788,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3253617286682129,"velocity_rad_s":0.18104460835456848,"acceleration_raw":0.0,"estimated_torque_nm":6.566239356994629,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01250027772039175,"velocity_rad_s":-0.3182310163974762,"acceleration_raw":0.0,"estimated_torque_nm":-2.1717283725738525,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32129228115081787,"velocity_rad_s":-0.17780542373657227,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012416722252964973,"velocity_rad_s":0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004030960611999035,"velocity_rad_s":0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6083171367645264,"velocity_rad_s":-0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30237898230552673,"velocity_rad_s":0.22643263638019562,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007583944126963615,"velocity_rad_s":-0.38287100195884705,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.018895965069532394,"velocity_rad_s":-0.34626084566116333,"acceleration_raw":0.0,"estimated_torque_nm":3.8591973781585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01724987104535103,"velocity_rad_s":0.20318914949893951,"acceleration_raw":0.0,"estimated_torque_nm":-3.0903892517089844,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.012183640152215958,"velocity_rad_s":0.29190412163734436,"acceleration_raw":0.0,"estimated_torque_nm":-2.7774484157562256,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28825655579566956,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2075428068637848,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049614692106842995,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9831618666648865,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023848608136177063,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00771784083917737,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27507391571998596,"velocity_rad_s":0.1871456652879715,"acceleration_raw":0.0,"estimated_torque_nm":-4.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1782054305076599,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03689942881464958,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8610665798187256,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020301276817917824,"velocity_rad_s":0.47860202193260193,"acceleration_raw":0.0,"estimated_torque_nm":-1.037500023841858,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788008698656,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":35328,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":26112,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":22784,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":22784,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":36608,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0}],"touch_metric":0.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":788019188096,"stream":"brainco.motor","data":{"currents":[7,-100,17,0,-16,2],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [7, -100, 17, 0, -16, 2],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":788019658336,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":0.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.004414625128600823}} +{"timestamp_monotonic_ns":788021013376,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810105,"imu":{"quaternion":[0.9919229745864868,-0.0012393317883834243,0.011035613715648651,0.1263551414012909],"gyroscope":[0.012783171609044075,0.02237055078148842,-0.2982740104198456],"accelerometer":[0.0314238965511322,-0.5099649429321289,9.852738380432129],"rpy":[0.0003302510885987431,0.022207975387573242,0.25340700149536133],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32093435525894165,"velocity_rad_s":-0.1483529955148697,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018697520717978477,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015507815405726433,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6420646905899048,"velocity_rad_s":-0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3252178132534027,"velocity_rad_s":0.18735751509666443,"acceleration_raw":0.0,"estimated_torque_nm":6.566239356994629,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012247329577803612,"velocity_rad_s":-0.3330482244491577,"acceleration_raw":0.0,"estimated_torque_nm":-2.1717283725738525,"temperature_raw":[40,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32143715023994446,"velocity_rad_s":-0.17671458423137665,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012536032125353813,"velocity_rad_s":0.17235127091407776,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004111311864107847,"velocity_rad_s":0.15084631741046906,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6082915663719177,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3022496700286865,"velocity_rad_s":0.21508096158504486,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007416278123855591,"velocity_rad_s":-0.3466256558895111,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01932450570166111,"velocity_rad_s":-0.32740509510040283,"acceleration_raw":0.0,"estimated_torque_nm":3.9710583686828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01737077534198761,"velocity_rad_s":0.18572849035263062,"acceleration_raw":0.0,"estimated_torque_nm":-3.0402207374572754,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.011990240775048733,"velocity_rad_s":0.2883426547050476,"acceleration_raw":0.0,"estimated_torque_nm":-2.700371026992798,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2881487011909485,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.207638680934906,"velocity_rad_s":0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9831618666648865,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023848608136177063,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007729825098067522,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2751578092575073,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1782054305076599,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03688744455575943,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8611504435539246,"velocity_rad_s":0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020552946254611015,"velocity_rad_s":0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":-1.024999976158142,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788022614208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810106,"imu":{"quaternion":[0.9919412136077881,-0.0012437014374881983,0.011039077304303646,0.1262112408876419],"gyroscope":[0.011717907153069973,0.019174758344888687,-0.29081717133522034],"accelerometer":[-0.16519992053508759,-0.16968904435634613,9.692028045654297],"rpy":[0.00031923275673761964,0.02221599593758583,0.25311675667762756],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3211047947406769,"velocity_rad_s":-0.14289884269237518,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018612300977110863,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015547990798950195,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6420050263404846,"velocity_rad_s":-0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3250656723976135,"velocity_rad_s":0.19051918387413025,"acceleration_raw":0.0,"estimated_torque_nm":6.65759801864624,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011979912407696247,"velocity_rad_s":-0.3330245614051819,"acceleration_raw":0.0,"estimated_torque_nm":-2.223390579223633,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3216843008995056,"velocity_rad_s":-0.1799870878458023,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012766129337251186,"velocity_rad_s":0.1690787822008133,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004178271628916264,"velocity_rad_s":0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6082489490509033,"velocity_rad_s":-0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-7.470703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3021370768547058,"velocity_rad_s":0.20315822958946228,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00727776437997818,"velocity_rad_s":-0.30388715863227844,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.019538775086402893,"velocity_rad_s":-0.3068351149559021,"acceleration_raw":0.0,"estimated_torque_nm":3.915127992630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017536768689751625,"velocity_rad_s":0.15081754326820374,"acceleration_raw":0.0,"estimated_torque_nm":-2.99159574508667,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.011602682061493397,"velocity_rad_s":0.2762376070022583,"acceleration_raw":0.0,"estimated_torque_nm":-2.7772438526153564,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28793299198150635,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20785440504550934,"velocity_rad_s":0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9831139445304871,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02382463961839676,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007729825098067522,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2753375768661499,"velocity_rad_s":0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1782054305076599,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03689942881464958,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8612463474273682,"velocity_rad_s":0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020852552726864815,"velocity_rad_s":0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":-1.006250023841858,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788024496672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810107,"imu":{"quaternion":[0.9919588565826416,-0.001249508117325604,0.011044789105653763,0.12607212364673615],"gyroscope":[0.0074568502604961395,0.023435814306139946,-0.28122976422309875],"accelerometer":[-0.29718029499053955,0.2693476974964142,9.535805702209473],"rpy":[0.0003060343733523041,0.022228840738534927,0.25283610820770264],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3211899995803833,"velocity_rad_s":-0.13744467496871948,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01853560097515583,"velocity_rad_s":0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015561383217573166,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6419113278388977,"velocity_rad_s":-0.0818123072385788,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32491767406463623,"velocity_rad_s":0.18841010332107544,"acceleration_raw":0.0,"estimated_torque_nm":6.65759801864624,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011719739064574242,"velocity_rad_s":-0.3348984122276306,"acceleration_raw":0.0,"estimated_torque_nm":-2.223390579223633,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3218291699886322,"velocity_rad_s":-0.1690787822008133,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012885438278317451,"velocity_rad_s":0.17126044631004333,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0043523660860955715,"velocity_rad_s":0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6081637144088745,"velocity_rad_s":-0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30202460289001465,"velocity_rad_s":0.19225893914699554,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007153694052249193,"velocity_rad_s":-0.25559577345848083,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.019753046333789825,"velocity_rad_s":-0.3016926348209381,"acceleration_raw":0.0,"estimated_torque_nm":3.915127992630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017627406865358353,"velocity_rad_s":0.14987413585186005,"acceleration_raw":0.0,"estimated_torque_nm":-2.99159574508667,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01143817137926817,"velocity_rad_s":0.26316913962364197,"acceleration_raw":0.0,"estimated_torque_nm":-2.7772438526153564,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2878251373767853,"velocity_rad_s":-0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2079622596502304,"velocity_rad_s":0.16260196268558502,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049255164340138435,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9830899834632874,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02382463961839676,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007741809356957674,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2754334509372711,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17819344997406006,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03689942881464958,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8614620566368103,"velocity_rad_s":0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02111620455980301,"velocity_rad_s":0.3497476279735565,"acceleration_raw":0.0,"estimated_torque_nm":-0.9937499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013925669714808464,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788026380736,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810107,"imu":{"quaternion":[0.9919588565826416,-0.001249508117325604,0.011044789105653763,0.12607212364673615],"gyroscope":[0.0074568502604961395,0.023435814306139946,-0.28122976422309875],"accelerometer":[-0.29718029499053955,0.2693476974964142,9.535805702209473],"rpy":[0.0003060343733523041,0.022228840738534927,0.25283610820770264],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32124966382980347,"velocity_rad_s":-0.12544554471969604,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018458902835845947,"velocity_rad_s":0.09490227699279785,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015561383217573166,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6418687105178833,"velocity_rad_s":-0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32477787137031555,"velocity_rad_s":0.18788380920886993,"acceleration_raw":0.0,"estimated_torque_nm":6.65759801864624,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01147401612251997,"velocity_rad_s":-0.33397331833839417,"acceleration_raw":0.0,"estimated_torque_nm":-2.223390579223633,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32198256254196167,"velocity_rad_s":-0.18871372938156128,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012970659881830215,"velocity_rad_s":0.1385355144739151,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004405933897942305,"velocity_rad_s":0.12856221199035645,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6081210970878601,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30186590552330017,"velocity_rad_s":0.16446197032928467,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006920644547790289,"velocity_rad_s":-0.21457716822624207,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01996731571853161,"velocity_rad_s":-0.3016926348209381,"acceleration_raw":0.0,"estimated_torque_nm":3.915127992630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017710445448756218,"velocity_rad_s":0.1362171173095703,"acceleration_raw":0.0,"estimated_torque_nm":-2.9912614822387695,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.011278719641268253,"velocity_rad_s":0.25760599970817566,"acceleration_raw":0.0,"estimated_torque_nm":-2.6308958530426025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2877172827720642,"velocity_rad_s":-0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20805813372135162,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9830780029296875,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023812655359506607,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007729825098067522,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2754693925380707,"velocity_rad_s":0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178181454539299,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03688744455575943,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.861545979976654,"velocity_rad_s":0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.021571604534983635,"velocity_rad_s":0.3129321038722992,"acceleration_raw":0.0,"estimated_torque_nm":-0.981249988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013937653973698616,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788028555520,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810108,"imu":{"quaternion":[0.9919923543930054,-0.0012571228435263038,0.011051413603127003,0.12580767273902893],"gyroscope":[0.008522114716470242,0.017044229432940483,-0.2609897553920746],"accelerometer":[-0.1355716735124588,0.1777694821357727,9.503484725952148],"rpy":[0.00028666353318840265,0.022243980318307877,0.25230273604393005],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32134339213371277,"velocity_rad_s":-0.1276272088289261,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018390724435448647,"velocity_rad_s":0.11344641447067261,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015561383217573166,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6418346166610718,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3245352804660797,"velocity_rad_s":0.17367911338806152,"acceleration_raw":0.0,"estimated_torque_nm":6.566239356994629,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011062124744057655,"velocity_rad_s":-0.3015635907649994,"acceleration_raw":0.0,"estimated_torque_nm":-2.1717283725738525,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3221103847026825,"velocity_rad_s":-0.18871372938156128,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013072924688458443,"velocity_rad_s":0.13962635397911072,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0044996771030128,"velocity_rad_s":0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6080955266952515,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30177444219589233,"velocity_rad_s":0.14895707368850708,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006847443990409374,"velocity_rad_s":-0.19127357006072998,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.020409248769283295,"velocity_rad_s":-0.3034067749977112,"acceleration_raw":0.0,"estimated_torque_nm":3.9710583686828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01779346354305744,"velocity_rad_s":0.13234753906726837,"acceleration_raw":0.0,"estimated_torque_nm":-2.9912614822387695,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.011119441129267216,"velocity_rad_s":0.2526765763759613,"acceleration_raw":0.0,"estimated_torque_nm":-2.6308958530426025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28760942816734314,"velocity_rad_s":-0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20820194482803345,"velocity_rad_s":0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049255164340138435,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9830660223960876,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023848608136177063,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00771784083917737,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27555328607559204,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17816947400569916,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03693538159132004,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8616777658462524,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02178732119500637,"velocity_rad_s":0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-0.96875,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01390170119702816,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788030428960,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810109,"imu":{"quaternion":[0.9920077323913574,-0.0012595454463735223,0.011054711416363716,0.12568600475788116],"gyroscope":[0.008522114716470242,0.017044229432940483,-0.2460760623216629],"accelerometer":[-0.1355716735124588,0.1777694821357727,9.503484725952148],"rpy":[0.00027995664277113974,0.022251170128583908,0.25205737352371216],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3214968144893646,"velocity_rad_s":-0.12217305600643158,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018245849758386612,"velocity_rad_s":0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015601558610796928,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6418090462684631,"velocity_rad_s":-0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32445305585861206,"velocity_rad_s":0.1615666002035141,"acceleration_raw":0.0,"estimated_torque_nm":6.566239356994629,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01090305857360363,"velocity_rad_s":-0.29143497347831726,"acceleration_raw":0.0,"estimated_torque_nm":-2.1717283725738525,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3223916292190552,"velocity_rad_s":-0.17671458423137665,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013200757093727589,"velocity_rad_s":0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004566636402159929,"velocity_rad_s":0.10456392168998718,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6080614328384399,"velocity_rad_s":-0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3017035126686096,"velocity_rad_s":0.14248396456241608,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006752717308700085,"velocity_rad_s":-0.17268072068691254,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.020623520016670227,"velocity_rad_s":-0.2965501546859741,"acceleration_raw":0.0,"estimated_torque_nm":4.026988506317139,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01794438250362873,"velocity_rad_s":0.12171584367752075,"acceleration_raw":0.0,"estimated_torque_nm":-2.9912614822387695,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01082014013081789,"velocity_rad_s":0.2347732037305832,"acceleration_raw":0.0,"estimated_torque_nm":-2.6308958530426025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28738170862197876,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20842964947223663,"velocity_rad_s":0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049255164340138435,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9830420017242432,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023800671100616455,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007705857045948505,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27569711208343506,"velocity_rad_s":0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17814551293849945,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036911413073539734,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8617976307868958,"velocity_rad_s":0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05867476761341095,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.021943116560578346,"velocity_rad_s":0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-0.96875,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013889716938138008,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788032020384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810110,"imu":{"quaternion":[0.9920077323913574,-0.0012595454463735223,0.011054711416363716,0.12568600475788116],"gyroscope":[0.008522114716470242,0.017044229432940483,-0.2460760623216629],"accelerometer":[-0.1355716735124588,0.1777694821357727,9.503484725952148],"rpy":[0.00027995664277113974,0.022251170128583908,0.25205737352371216],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3215905427932739,"velocity_rad_s":-0.1483529955148697,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018186194822192192,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015561383217573166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6417749524116516,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.324379026889801,"velocity_rad_s":0.1484144777059555,"acceleration_raw":0.0,"estimated_torque_nm":6.656825065612793,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010802012868225574,"velocity_rad_s":-0.260875403881073,"acceleration_raw":0.0,"estimated_torque_nm":-2.1201930046081543,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3225279748439789,"velocity_rad_s":-0.18216875195503235,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013260412029922009,"velocity_rad_s":0.08617563545703888,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0047541228123009205,"velocity_rad_s":0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":-3.467684745788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6079933047294617,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30165329575538635,"velocity_rad_s":0.12551505863666534,"acceleration_raw":0.0,"estimated_torque_nm":3.620368003845215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006665386259555817,"velocity_rad_s":-0.16882991790771484,"acceleration_raw":0.0,"estimated_torque_nm":-0.08025430887937546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02085118182003498,"velocity_rad_s":-0.30512094497680664,"acceleration_raw":0.0,"estimated_torque_nm":4.026988506317139,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01805775985121727,"velocity_rad_s":0.11107589304447174,"acceleration_raw":0.0,"estimated_torque_nm":-2.9912614822387695,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.010680575855076313,"velocity_rad_s":0.22059620916843414,"acceleration_raw":0.0,"estimated_torque_nm":-2.6308958530426025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28723791241645813,"velocity_rad_s":-0.18561168015003204,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2085375040769577,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9829940795898438,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023812655359506607,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0076818885281682014,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2757810056209564,"velocity_rad_s":0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1781335175037384,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03693538159132004,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.862085223197937,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022098911926150322,"velocity_rad_s":0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-0.956250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788037164448,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810111,"imu":{"quaternion":[0.9920220971107483,-0.0012613390572369099,0.01106236781924963,0.12557120621204376],"gyroscope":[0.009587379172444344,0.02556634321808815,-0.232227623462677],"accelerometer":[-0.07990647852420807,0.15981295704841614,9.368810653686523],"rpy":[0.0002757456968538463,0.022266842424869537,0.25182589888572693],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32167577743530273,"velocity_rad_s":-0.14071717858314514,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01811801828444004,"velocity_rad_s":0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015574774704873562,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6417067646980286,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3242926001548767,"velocity_rad_s":0.14160385727882385,"acceleration_raw":0.0,"estimated_torque_nm":6.656825065612793,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010737321339547634,"velocity_rad_s":-0.20425550639629364,"acceleration_raw":0.0,"estimated_torque_nm":-2.1201930046081543,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3226984143257141,"velocity_rad_s":-0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013285977765917778,"velocity_rad_s":0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004847866017371416,"velocity_rad_s":0.15427464246749878,"acceleration_raw":0.0,"estimated_torque_nm":-3.467684745788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6079421639442444,"velocity_rad_s":-0.07417649775743484,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30151960253715515,"velocity_rad_s":0.11421085894107819,"acceleration_raw":0.0,"estimated_torque_nm":3.530273199081421,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006461487151682377,"velocity_rad_s":-0.14000029861927032,"acceleration_raw":0.0,"estimated_torque_nm":-0.029116997495293617,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.021078843623399734,"velocity_rad_s":-0.310263454914093,"acceleration_raw":0.0,"estimated_torque_nm":4.082919120788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018148431554436684,"velocity_rad_s":0.11207757145166397,"acceleration_raw":0.0,"estimated_torque_nm":-2.941070079803467,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.010555338114500046,"velocity_rad_s":0.2063019722700119,"acceleration_raw":0.0,"estimated_torque_nm":-2.5536000728607178,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2871180772781372,"velocity_rad_s":-0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20865733921527863,"velocity_rad_s":0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049255164340138435,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9829461574554443,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02382463961839676,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007705857045948505,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2758409082889557,"velocity_rad_s":0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1780855804681778,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036923397332429886,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.86222904920578,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022230736911296844,"velocity_rad_s":0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.925000011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788038886784,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810112,"imu":{"quaternion":[0.9920486807823181,-0.0012595601147040725,0.01108845230191946,0.12535949051380157],"gyroscope":[0.017044229432940483,0.03941477835178375,-0.20985707640647888],"accelerometer":[0.06374561786651611,-0.02693476900458336,9.122806549072266],"rpy":[0.00028106558602303267,0.022318217903375626,0.2513992190361023],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3217780292034149,"velocity_rad_s":-0.14508049190044403,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018075406551361084,"velocity_rad_s":0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015574774704873562,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6416811943054199,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32418978214263916,"velocity_rad_s":0.11687330156564713,"acceleration_raw":0.0,"estimated_torque_nm":6.656825065612793,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010614707134664059,"velocity_rad_s":-0.15334397554397583,"acceleration_raw":0.0,"estimated_torque_nm":-2.1201930046081543,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3228347897529602,"velocity_rad_s":-0.19853121042251587,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013337111100554466,"velocity_rad_s":0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004941609688103199,"velocity_rad_s":0.1628454625606537,"acceleration_raw":0.0,"estimated_torque_nm":-3.467684745788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6079165935516357,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30143213272094727,"velocity_rad_s":0.1084274873137474,"acceleration_raw":0.0,"estimated_torque_nm":3.530273199081421,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00636660261079669,"velocity_rad_s":-0.14643988013267517,"acceleration_raw":0.0,"estimated_torque_nm":-0.029116997495293617,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.021480601280927658,"velocity_rad_s":-0.27769434452056885,"acceleration_raw":0.0,"estimated_torque_nm":4.026988506317139,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018223945051431656,"velocity_rad_s":0.1023872047662735,"acceleration_raw":0.0,"estimated_torque_nm":-2.98970627784729,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.010429947637021542,"velocity_rad_s":0.20143117010593414,"acceleration_raw":0.0,"estimated_torque_nm":-2.476522445678711,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28696227073669434,"velocity_rad_s":-0.200951486825943,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20875321328639984,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049255164340138435,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9829221963882446,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02382463961839676,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00771784083917737,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2758888602256775,"velocity_rad_s":0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1780855804681778,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036923397332429886,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8623608946800232,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02244645357131958,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.8999999761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788041329632,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810113,"imu":{"quaternion":[0.9920611381530762,-0.001254982315003872,0.011105752550065517,0.1252593845129013],"gyroscope":[0.02237055078148842,0.04367583617568016,-0.20240022242069244],"accelerometer":[0.07631517946720123,0.011671733111143112,9.074323654174805],"rpy":[0.0002922342100646347,0.022351427003741264,0.25119760632514954],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.321956992149353,"velocity_rad_s":-0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.018015751615166664,"velocity_rad_s":0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015601558610796928,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6416641473770142,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32414862513542175,"velocity_rad_s":0.10635654628276825,"acceleration_raw":0.0,"estimated_torque_nm":6.656825065612793,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010600503534078598,"velocity_rad_s":-0.12183565646409988,"acceleration_raw":0.0,"estimated_torque_nm":-2.1201930046081543,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32314157485961914,"velocity_rad_s":-0.1898045539855957,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013430854305624962,"velocity_rad_s":0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005035352893173695,"velocity_rad_s":0.1628454625606537,"acceleration_raw":0.0,"estimated_torque_nm":-3.467684745788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6078739762306213,"velocity_rad_s":-0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30136120319366455,"velocity_rad_s":0.10633306950330734,"acceleration_raw":0.0,"estimated_torque_nm":3.530273199081421,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006271893624216318,"velocity_rad_s":-0.15012985467910767,"acceleration_raw":0.0,"estimated_torque_nm":-0.029116997495293617,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02169487066566944,"velocity_rad_s":-0.2965501546859741,"acceleration_raw":0.0,"estimated_torque_nm":4.082919120788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01831442303955555,"velocity_rad_s":0.07138404250144958,"acceleration_raw":0.0,"estimated_torque_nm":-2.9395151138305664,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.010217372328042984,"velocity_rad_s":0.18311193585395813,"acceleration_raw":0.0,"estimated_torque_nm":-2.399226427078247,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2866746485233307,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20899289846420288,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9828862547874451,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023800671100616455,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007705857045948505,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2759847342967987,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1780376434326172,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03694736585021019,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8624687194824219,"velocity_rad_s":0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022542327642440796,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.887499988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788042980416,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810114,"imu":{"quaternion":[0.9920611381530762,-0.001254982315003872,0.011105752550065517,0.1252593845129013],"gyroscope":[0.02237055078148842,0.04367583617568016,-0.20240022242069244],"accelerometer":[0.07631517946720123,0.011671733111143112,9.074323654174805],"rpy":[0.0002922342100646347,0.022351427003741264,0.25119760632514954],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32207632064819336,"velocity_rad_s":-0.16580629348754883,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01799018494784832,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01565512642264366,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6416300535202026,"velocity_rad_s":-0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32411158084869385,"velocity_rad_s":0.09952384233474731,"acceleration_raw":0.0,"estimated_torque_nm":6.656825065612793,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010579013265669346,"velocity_rad_s":-0.0968029797077179,"acceleration_raw":0.0,"estimated_torque_nm":-2.1201930046081543,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3232949674129486,"velocity_rad_s":-0.1941678822040558,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013464942574501038,"velocity_rad_s":0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005155880004167557,"velocity_rad_s":0.1302763670682907,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6078398823738098,"velocity_rad_s":-0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3012778162956238,"velocity_rad_s":0.10847495496273041,"acceleration_raw":0.0,"estimated_torque_nm":3.530273199081421,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006169786211103201,"velocity_rad_s":-0.1538555771112442,"acceleration_raw":0.0,"estimated_torque_nm":-0.029116997495293617,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.021909141913056374,"velocity_rad_s":-0.3256909251213074,"acceleration_raw":0.0,"estimated_torque_nm":4.138849258422852,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01834450289607048,"velocity_rad_s":0.0626569539308548,"acceleration_raw":0.0,"estimated_torque_nm":-2.8893237113952637,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.010110932402312756,"velocity_rad_s":0.18133670091629028,"acceleration_raw":0.0,"estimated_torque_nm":-2.3219306468963623,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2865428328514099,"velocity_rad_s":-0.19788353145122528,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2091606855392456,"velocity_rad_s":0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9828502535820007,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023800671100616455,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007705857045948505,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2760566174983978,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17801368236541748,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036983318626880646,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.862684428691864,"velocity_rad_s":0.15800002217292786,"acceleration_raw":0.0,"estimated_torque_nm":-3.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022614233195781708,"velocity_rad_s":0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.887499988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788049003360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810115,"imu":{"quaternion":[0.9920728802680969,-0.001245773513801396,0.011127239093184471,0.1251644641160965],"gyroscope":[0.03195792809128761,0.0511326864361763,-0.19174757599830627],"accelerometer":[0.07631517946720123,0.011671733111143112,9.074323654174805],"rpy":[0.00031375227263197303,0.0223917905241251,0.251006543636322],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3221870958805084,"velocity_rad_s":-0.1647154539823532,"acceleration_raw":0.0,"estimated_torque_nm":-1.93359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017973141744732857,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01565512642264366,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6415533423423767,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32405397295951843,"velocity_rad_s":0.09215444326400757,"acceleration_raw":0.0,"estimated_torque_nm":6.747411251068115,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010550403036177158,"velocity_rad_s":-0.08570978045463562,"acceleration_raw":0.0,"estimated_torque_nm":-2.068657875061035,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32346540689468384,"velocity_rad_s":-0.1952587217092514,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013499030843377113,"velocity_rad_s":0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0052094473503530025,"velocity_rad_s":0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":-3.4117543697357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6077887415885925,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-7.55859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30111077427864075,"velocity_rad_s":0.11324671655893326,"acceleration_raw":0.0,"estimated_torque_nm":3.530273199081421,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005922169890254736,"velocity_rad_s":-0.15482275187969208,"acceleration_raw":0.0,"estimated_torque_nm":-0.029116997495293617,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.022110018879175186,"velocity_rad_s":-0.315405935049057,"acceleration_raw":0.0,"estimated_torque_nm":4.250710487365723,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01837460696697235,"velocity_rad_s":0.05588659644126892,"acceleration_raw":0.0,"estimated_torque_nm":-2.8893237113952637,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01001419685781002,"velocity_rad_s":0.17208914458751678,"acceleration_raw":0.0,"estimated_torque_nm":-2.3219306468963623,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28638702630996704,"velocity_rad_s":-0.2070874124765396,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20924457907676697,"velocity_rad_s":0.18561168015003204,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049375006929039955,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9828023314476013,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023812655359506607,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00771784083917737,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27612853050231934,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-4.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17801368236541748,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03700728714466095,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.862828254699707,"velocity_rad_s":0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":-3.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022674154490232468,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.887499988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788049688128,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810133,"imu":{"quaternion":[0.9921779036521912,-0.0010636629303917289,0.012057256884872913,0.12424404174089432],"gyroscope":[0.049002159386873245,0.12463592737913132,-0.020240021869540215],"accelerometer":[-0.43364977836608887,-0.1966238170862198,9.373299598693848],"rpy":[0.0008856582571752369,0.024192554876208305,0.24916094541549683],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3264651894569397,"velocity_rad_s":-0.3141592741012573,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017794176936149597,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015829220414161682,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6408886313438416,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-10.283203125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32171952724456787,"velocity_rad_s":0.1541045904159546,"acceleration_raw":0.0,"estimated_torque_nm":6.656215667724609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007185910828411579,"velocity_rad_s":-0.20507244765758514,"acceleration_raw":0.0,"estimated_torque_nm":-2.0388214588165283,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3283059597015381,"velocity_rad_s":-0.30543264746665955,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005437109619379044,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6079251170158386,"velocity_rad_s":0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2993474006652832,"velocity_rad_s":0.0701717734336853,"acceleration_raw":0.0,"estimated_torque_nm":3.2591166496276855,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0038145151920616627,"velocity_rad_s":-0.04322993755340576,"acceleration_raw":0.0,"estimated_torque_nm":0.020861351862549782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026114197447896004,"velocity_rad_s":-0.21255618333816528,"acceleration_raw":0.0,"estimated_torque_nm":4.474431991577148,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018866106867790222,"velocity_rad_s":-0.0038751603569835424,"acceleration_raw":0.0,"estimated_torque_nm":-2.732511281967163,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009489713236689568,"velocity_rad_s":-0.002448093378916383,"acceleration_raw":0.0,"estimated_torque_nm":-1.4706969261169434,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28256407380104065,"velocity_rad_s":-0.22856314480304718,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21221666038036346,"velocity_rad_s":0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0049135321751236916,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9816159009933472,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0234770979732275,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0076818885281682014,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2772310972213745,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17754629254341125,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0372949093580246,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8632836937904358,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022793997079133987,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788050323936,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810134,"imu":{"quaternion":[0.9921779036521912,-0.0010636629303917289,0.012057256884872913,0.12424404174089432],"gyroscope":[0.049002159386873245,0.12463592737913132,-0.020240021869540215],"accelerometer":[-0.43364977836608887,-0.1966238170862198,9.373299598693848],"rpy":[0.0008856582571752369,0.024192554876208305,0.24916094541549683],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32667824625968933,"velocity_rad_s":-0.3119776248931885,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017777131870388985,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01581582799553871,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6408971548080444,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3216378092765808,"velocity_rad_s":0.1482604295015335,"acceleration_raw":0.0,"estimated_torque_nm":6.656215667724609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007026854902505875,"velocity_rad_s":-0.21719256043434143,"acceleration_raw":0.0,"estimated_torque_nm":-2.0388214588165283,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3285275399684906,"velocity_rad_s":-0.2868885099887848,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005437109619379044,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6080273985862732,"velocity_rad_s":0.08617563545703888,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29931822419166565,"velocity_rad_s":0.06595921516418457,"acceleration_raw":0.0,"estimated_torque_nm":3.2591166496276855,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037780546117573977,"velocity_rad_s":-0.04690204933285713,"acceleration_raw":0.0,"estimated_torque_nm":0.020861351862549782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026288291439414024,"velocity_rad_s":-0.25026774406433105,"acceleration_raw":0.0,"estimated_torque_nm":4.530362129211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018873674795031548,"velocity_rad_s":-0.01163085550069809,"acceleration_raw":0.0,"estimated_torque_nm":-2.732511281967163,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009484931826591492,"velocity_rad_s":-0.004857098218053579,"acceleration_raw":0.0,"estimated_torque_nm":-1.4706969261169434,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823962867259979,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.212384432554245,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00490154791623354,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9814481139183044,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023453129455447197,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0076818885281682014,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27724307775497437,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1775103509426117,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0373188778758049,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8632836937904358,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022770028561353683,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013709953986108303,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788052721792,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810135,"imu":{"quaternion":[0.9921780228614807,-0.0010480275377631187,0.012117751874029636,0.12423721700906754],"gyroscope":[0.0511326864361763,0.12250539660453796,-0.013848436065018177],"accelerometer":[-0.43364977836608887,-0.1966238170862198,9.373299598693848],"rpy":[0.0009315669303759933,0.024308735504746437,0.24914796650409698],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32689130306243896,"velocity_rad_s":-0.2923426628112793,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01774304360151291,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01581582799553871,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409056782722473,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3214454650878906,"velocity_rad_s":0.14296157658100128,"acceleration_raw":0.0,"estimated_torque_nm":6.656215667724609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.006745253223925829,"velocity_rad_s":-0.22466382384300232,"acceleration_raw":0.0,"estimated_torque_nm":-2.0388214588165283,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32873207330703735,"velocity_rad_s":-0.2825251817703247,"acceleration_raw":0.0,"estimated_torque_nm":3.603515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005437109619379044,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-3.1321022510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6080699563026428,"velocity_rad_s":0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2992311120033264,"velocity_rad_s":0.06643535196781158,"acceleration_raw":0.0,"estimated_torque_nm":3.2591166496276855,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003741105319932103,"velocity_rad_s":-0.03856385871767998,"acceleration_raw":0.0,"estimated_torque_nm":0.020861351862549782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026422210037708282,"velocity_rad_s":-0.24169693887233734,"acceleration_raw":0.0,"estimated_torque_nm":4.642222881317139,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018866147845983505,"velocity_rad_s":-0.007744946051388979,"acceleration_raw":0.0,"estimated_torque_nm":-2.732511281967163,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009509144350886345,"velocity_rad_s":-0.007383368909358978,"acceleration_raw":0.0,"estimated_torque_nm":-1.4706969261169434,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28226447105407715,"velocity_rad_s":-0.2346990704536438,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21251626312732697,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00490154791623354,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9813522696495056,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023393208160996437,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0076699042692780495,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27721908688545227,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1774863749742508,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03730689361691475,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8632716536521912,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022782012820243835,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788054374432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810136,"imu":{"quaternion":[0.9921781420707703,-0.0010120227234438062,0.012238005176186562,0.12422503530979156],"gyroscope":[0.056459009647369385,0.12144013494253159,-0.013848436065018177],"accelerometer":[-0.3456628620624542,0.015263035893440247,9.289801597595215],"rpy":[0.0010326305637136102,0.02453846111893654,0.2491251528263092],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3273259401321411,"velocity_rad_s":-0.29452431201934814,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017717478796839714,"velocity_rad_s":0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015829220414161682,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409056782722473,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32135143876075745,"velocity_rad_s":0.14134766161441803,"acceleration_raw":0.0,"estimated_torque_nm":6.656215667724609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.006579034496098757,"velocity_rad_s":-0.23303644359111786,"acceleration_raw":0.0,"estimated_torque_nm":-2.0388214588165283,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32914966344833374,"velocity_rad_s":-0.27488934993743896,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00542371766641736,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-3.1321022510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6081210970878601,"velocity_rad_s":0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2991853654384613,"velocity_rad_s":0.06438840180635452,"acceleration_raw":0.0,"estimated_torque_nm":3.2591166496276855,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003704505041241646,"velocity_rad_s":-0.0496695302426815,"acceleration_raw":0.0,"estimated_torque_nm":0.020861351862549782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0266900472342968,"velocity_rad_s":-0.19198623299598694,"acceleration_raw":0.0,"estimated_torque_nm":4.530362129211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018866170197725296,"velocity_rad_s":-0.00580467889085412,"acceleration_raw":0.0,"estimated_torque_nm":-2.732511281967163,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009518859907984734,"velocity_rad_s":-0.007402913644909859,"acceleration_raw":0.0,"estimated_torque_nm":-1.4706969261169434,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2819288969039917,"velocity_rad_s":-0.23623305559158325,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21264809370040894,"velocity_rad_s":0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004877579864114523,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9812683463096619,"velocity_rad_s":-0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023369239643216133,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0076459357514977455,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27719512581825256,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-4.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17745041847229004,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03730689361691475,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8632716536521912,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022770028561353683,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013733922503888607,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788056052160,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810137,"imu":{"quaternion":[0.9921781420707703,-0.0010120227234438062,0.012238005176186562,0.12422503530979156],"gyroscope":[0.056459009647369385,0.12144013494253159,-0.013848436065018177],"accelerometer":[-0.3456628620624542,0.015263035893440247,9.289801597595215],"rpy":[0.0010326305637136102,0.02453846111893654,0.2491251528263092],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32759010791778564,"velocity_rad_s":-0.3021601438522339,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01768338866531849,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015829220414161682,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409142017364502,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3212778568267822,"velocity_rad_s":0.13559174537658691,"acceleration_raw":0.0,"estimated_torque_nm":6.656215667724609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.006448956206440926,"velocity_rad_s":-0.22286111116409302,"acceleration_raw":0.0,"estimated_torque_nm":-2.0388214588165283,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32932862639427185,"velocity_rad_s":-0.26507189869880676,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00542371766641736,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-3.1321022510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6081722378730774,"velocity_rad_s":0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2991357445716858,"velocity_rad_s":0.06960070878267288,"acceleration_raw":0.0,"estimated_torque_nm":3.2591166496276855,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0037041043397039175,"velocity_rad_s":-0.03673674166202545,"acceleration_raw":0.0,"estimated_torque_nm":0.020861351862549782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026797182857990265,"velocity_rad_s":-0.20569951832294464,"acceleration_raw":0.0,"estimated_torque_nm":4.530362129211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018835894763469696,"velocity_rad_s":-0.015487205237150192,"acceleration_raw":0.0,"estimated_torque_nm":-2.6823208332061768,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009537985548377037,"velocity_rad_s":-0.016010329127311707,"acceleration_raw":0.0,"estimated_torque_nm":-1.3934941291809082,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28177309036254883,"velocity_rad_s":-0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21292373538017273,"velocity_rad_s":0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004877579864114523,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9811844825744629,"velocity_rad_s":-0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02334527112543583,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00760998297482729,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2771831452846527,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-4.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17739050090312958,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03730689361691475,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8632596731185913,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022782012820243835,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788058256736,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810138,"imu":{"quaternion":[0.9921780824661255,-0.0009921843884512782,0.012299159541726112,0.12421972304582596],"gyroscope":[0.05858953669667244,0.12250539660453796,-0.010652642697095871],"accelerometer":[-0.29897594451904297,0.042197804898023605,9.27453899383545],"rpy":[0.0010870798723772168,0.02465490810573101,0.24911531805992126],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3278031647205353,"velocity_rad_s":-0.29561513662338257,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01768338866531849,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01580243743956089,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409142017364502,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3211878538131714,"velocity_rad_s":0.1319509595632553,"acceleration_raw":0.0,"estimated_torque_nm":6.656215667724609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0063044726848602295,"velocity_rad_s":-0.210812047123909,"acceleration_raw":0.0,"estimated_torque_nm":-2.0388214588165283,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3295416831970215,"velocity_rad_s":-0.27488934993743896,"acceleration_raw":0.0,"estimated_torque_nm":3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005437109619379044,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6082915663719177,"velocity_rad_s":0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2990899085998535,"velocity_rad_s":0.06598294526338577,"acceleration_raw":0.0,"estimated_torque_nm":3.2591166496276855,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0036530247889459133,"velocity_rad_s":-0.05060989037156105,"acceleration_raw":0.0,"estimated_torque_nm":0.020861351862549782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026931101456284523,"velocity_rad_s":-0.19198623299598694,"acceleration_raw":0.0,"estimated_torque_nm":4.530362129211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01883593760430813,"velocity_rad_s":-0.02033652924001217,"acceleration_raw":0.0,"estimated_torque_nm":-2.6823208332061768,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009557416662573814,"velocity_rad_s":-0.016583263874053955,"acceleration_raw":0.0,"estimated_torque_nm":-1.3934941291809082,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28159335255622864,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2130555510520935,"velocity_rad_s":0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004889564123004675,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9809687733650208,"velocity_rad_s":-0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02329733408987522,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007597998715937138,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.277159184217453,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-4.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17735454440116882,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.037342846393585205,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8632237315177917,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022770028561353683,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788060266528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810139,"imu":{"quaternion":[0.992177426815033,-0.0009718631627038121,0.012363018468022346,0.12421807646751404],"gyroscope":[0.059654802083969116,0.12783171236515045,-0.0031957929022610188],"accelerometer":[-0.29897594451904297,0.042197804898023605,9.27453899383545],"rpy":[0.0011432504979893565,0.024776596575975418,0.24911294877529144],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32804179191589355,"velocity_rad_s":-0.29016098380088806,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017666345462203026,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015829220414161682,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409142017364502,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32101184129714966,"velocity_rad_s":0.13304896652698517,"acceleration_raw":0.0,"estimated_torque_nm":6.656215667724609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00605178764089942,"velocity_rad_s":-0.1996564418077469,"acceleration_raw":0.0,"estimated_torque_nm":-2.0388214588165283,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32973769307136536,"velocity_rad_s":-0.267253577709198,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005410325713455677,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.608342707157135,"velocity_rad_s":0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29897788166999817,"velocity_rad_s":0.07768022269010544,"acceleration_raw":0.0,"estimated_torque_nm":3.2591166496276855,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003601368749514222,"velocity_rad_s":-0.0581238716840744,"acceleration_raw":0.0,"estimated_torque_nm":0.020861351862549782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02702484466135502,"velocity_rad_s":-0.18684373795986176,"acceleration_raw":0.0,"estimated_torque_nm":4.474431991577148,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018813252449035645,"velocity_rad_s":-0.021291881799697876,"acceleration_raw":0.0,"estimated_torque_nm":-2.6321306228637695,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009581477381289005,"velocity_rad_s":-0.023413240909576416,"acceleration_raw":0.0,"estimated_torque_nm":-1.316291332244873,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2814255654811859,"velocity_rad_s":-0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21316342055797577,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004877579864114523,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.980884850025177,"velocity_rad_s":-0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02322542853653431,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007586014457046986,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27712321281433105,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17733058333396912,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.037342846393585205,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8632237315177917,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-3.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022770028561353683,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788062193088,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810140,"imu":{"quaternion":[0.9921733140945435,-0.0009326143190264702,0.012490814551711082,0.12423864752054214],"gyroscope":[0.05539374426007271,0.12783171236515045,0.026631608605384827],"accelerometer":[-0.228047713637352,-0.11851298063993454,9.472060203552246],"rpy":[0.0012534463312476873,0.025020448490977287,0.24915632605552673],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3282548487186432,"velocity_rad_s":-0.2977968156337738,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01764077879488468,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01581582799553871,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409227252006531,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32092174887657166,"velocity_rad_s":0.13516409695148468,"acceleration_raw":0.0,"estimated_torque_nm":6.656215667724609,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005936343222856522,"velocity_rad_s":-0.1977827101945877,"acceleration_raw":0.0,"estimated_torque_nm":-2.0388214588165283,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.32993370294570923,"velocity_rad_s":-0.27379855513572693,"acceleration_raw":0.0,"estimated_torque_nm":3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005410325713455677,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-3.188032627105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6084108352661133,"velocity_rad_s":0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2989155948162079,"velocity_rad_s":0.07876302301883698,"acceleration_raw":0.0,"estimated_torque_nm":3.2591166496276855,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0035646469332277775,"velocity_rad_s":-0.06184065341949463,"acceleration_raw":0.0,"estimated_torque_nm":0.020861351862549782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02725250832736492,"velocity_rad_s":-0.14741799235343933,"acceleration_raw":0.0,"estimated_torque_nm":4.474431991577148,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018820863217115402,"velocity_rad_s":-0.010616380721330643,"acceleration_raw":0.0,"estimated_torque_nm":-2.6321306228637695,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009596127085387707,"velocity_rad_s":-0.02538612298667431,"acceleration_raw":0.0,"estimated_torque_nm":-1.316291332244873,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28113794326782227,"velocity_rad_s":-0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21329523622989655,"velocity_rad_s":0.1871456652879715,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004877579864114523,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9807770252227783,"velocity_rad_s":-0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023189475759863853,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007562045939266682,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2771112322807312,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17730660736560822,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8631877899169922,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022770028561353683,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013733922503888607,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788064115520,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810141,"imu":{"quaternion":[0.9921733140945435,-0.0009326143190264702,0.012490814551711082,0.12423864752054214],"gyroscope":[0.05539374426007271,0.12783171236515045,0.026631608605384827],"accelerometer":[-0.228047713637352,-0.11851298063993454,9.472060203552246],"rpy":[0.0012534463312476873,0.025020448490977287,0.24915632605552673],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32869797945022583,"velocity_rad_s":-0.30979594588279724,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017615212127566338,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01581582799553871,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640931248664856,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.320843905210495,"velocity_rad_s":0.13100740313529968,"acceleration_raw":0.0,"estimated_torque_nm":6.8373918533325195,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005842573009431362,"velocity_rad_s":-0.1829506754875183,"acceleration_raw":0.0,"estimated_torque_nm":-1.9363348484039307,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.330325722694397,"velocity_rad_s":-0.257436066865921,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005396933760493994,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-2.964311122894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6084704995155334,"velocity_rad_s":0.10581059008836746,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2988492250442505,"velocity_rad_s":0.08035757392644882,"acceleration_raw":0.0,"estimated_torque_nm":3.350083827972412,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003535129828378558,"velocity_rad_s":-0.06278102099895477,"acceleration_raw":0.0,"estimated_torque_nm":0.07315763086080551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02735964208841324,"velocity_rad_s":-0.18170124292373657,"acceleration_raw":0.0,"estimated_torque_nm":4.474431991577148,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018813420087099075,"velocity_rad_s":-0.005734806414693594,"acceleration_raw":0.0,"estimated_torque_nm":-2.635236978530884,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009659201838076115,"velocity_rad_s":-0.03973628208041191,"acceleration_raw":0.0,"estimated_torque_nm":-1.6246752738952637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28097015619277954,"velocity_rad_s":-0.24083499610424042,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21351096034049988,"velocity_rad_s":0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004877579864114523,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.980657160282135,"velocity_rad_s":-0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023153522983193398,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007538077887147665,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27702733874320984,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-4.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17724668979644775,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03737879917025566,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8631758093833923,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02275804430246353,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013733922503888607,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788065726080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810142,"imu":{"quaternion":[0.9921705722808838,-0.0009150076657533646,0.012550810351967812,0.12425456196069717],"gyroscope":[0.05219795182347298,0.12144013494253159,0.03195792809128761],"accelerometer":[-0.228047713637352,-0.07003039866685867,9.455899238586426],"rpy":[0.0013037157477810979,0.02513512410223484,0.24918930232524872],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32887694239616394,"velocity_rad_s":-0.2912518382072449,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017606690526008606,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015829220414161682,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409738659858704,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-9.4921875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32074958086013794,"velocity_rad_s":0.13054296374320984,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005748943891376257,"velocity_rad_s":-0.16716201603412628,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33052173256874084,"velocity_rad_s":-0.2661627233028412,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00542371766641736,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-2.852450370788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6085813045501709,"velocity_rad_s":0.11126474291086197,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2987787425518036,"velocity_rad_s":0.09195991605520248,"acceleration_raw":0.0,"estimated_torque_nm":3.2599892616271973,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003512817667797208,"velocity_rad_s":-0.05546361207962036,"acceleration_raw":0.0,"estimated_torque_nm":0.1242949441075325,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.027466777712106705,"velocity_rad_s":-0.17655876278877258,"acceleration_raw":0.0,"estimated_torque_nm":4.530362129211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01881350390613079,"velocity_rad_s":-0.01251364964991808,"acceleration_raw":0.0,"estimated_torque_nm":-2.6838741302490234,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.00969806406646967,"velocity_rad_s":-0.04526403546333313,"acceleration_raw":0.0,"estimated_torque_nm":-1.5476861000061035,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28079038858413696,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2136787325143814,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004877579864114523,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.980429470539093,"velocity_rad_s":-0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02310558594763279,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00755006168037653,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27696743607521057,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17724668979644775,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8631039261817932,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022734075784683228,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013733922503888607,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788067982656,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810143,"imu":{"quaternion":[0.9921677708625793,-0.0008994460804387927,0.012607182376086712,0.12427153438329697],"gyroscope":[0.04687162861227989,0.11504854261875153,0.034088458865880966],"accelerometer":[-0.18405425548553467,0.035913024097681046,9.663297653198242],"rpy":[0.0013490550918504596,0.025243110954761505,0.24922432005405426],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3290729522705078,"velocity_rad_s":-0.29452431201934814,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017581123858690262,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015829220414161682,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409909129142761,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3205523192882538,"velocity_rad_s":0.13864199817180634,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00566332321614027,"velocity_rad_s":-0.11786709725856781,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3306921720504761,"velocity_rad_s":-0.2519819140434265,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005437109619379044,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-2.852450370788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.608649492263794,"velocity_rad_s":0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2986253499984741,"velocity_rad_s":0.10469252616167068,"acceleration_raw":0.0,"estimated_torque_nm":3.350083827972412,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003460830543190241,"velocity_rad_s":-0.05927867814898491,"acceleration_raw":0.0,"estimated_torque_nm":0.07315763086080551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02754712849855423,"velocity_rad_s":-0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":4.530362129211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018836336210370064,"velocity_rad_s":0.00011018280201824382,"acceleration_raw":0.0,"estimated_torque_nm":-2.633683681488037,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009742013178765774,"velocity_rad_s":-0.050987232476472855,"acceleration_raw":0.0,"estimated_torque_nm":-1.4704833030700684,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2806346118450165,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21381056308746338,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004865595605224371,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9803215861320496,"velocity_rad_s":-0.15800002217292786,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023069633170962334,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00755006168037653,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27691948413848877,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-4.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.177210733294487,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8631039261817932,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788069613152,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810144,"imu":{"quaternion":[0.9921646118164062,-0.0008844579569995403,0.012661208398640156,0.12429120391607285],"gyroscope":[0.04474110156297684,0.11078748852014542,0.03941477835178375],"accelerometer":[-0.18405425548553467,0.035913024097681046,9.663297653198242],"rpy":[0.0013927456457167864,0.025346580892801285,0.24926476180553436],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32942238450050354,"velocity_rad_s":-0.24980026483535767,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0175640806555748,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01580243743956089,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6410164833068848,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-9.4921875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32045766711235046,"velocity_rad_s":0.14034417271614075,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005656795110553503,"velocity_rad_s":-0.08719905465841293,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3310586214065552,"velocity_rad_s":-0.2367102950811386,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00542371766641736,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-2.852450370788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.608717679977417,"velocity_rad_s":0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29853424429893494,"velocity_rad_s":0.11103509366512299,"acceleration_raw":0.0,"estimated_torque_nm":3.350083827972412,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003445565467700362,"velocity_rad_s":-0.05747835710644722,"acceleration_raw":0.0,"estimated_torque_nm":0.07315763086080551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0277212243527174,"velocity_rad_s":-0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":4.418501377105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018813693895936012,"velocity_rad_s":-0.006665973458439112,"acceleration_raw":0.0,"estimated_torque_nm":-2.633683681488037,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009785504080355167,"velocity_rad_s":-0.05775858089327812,"acceleration_raw":0.0,"estimated_torque_nm":-1.4704833030700684,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28026309609413147,"velocity_rad_s":-0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21394239366054535,"velocity_rad_s":0.19941751658916473,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004877579864114523,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9801898002624512,"velocity_rad_s":-0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023033680394291878,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007538077887147665,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27682361006736755,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-4.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17719875276088715,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.863055944442749,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022674154490232468,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788071527296,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810145,"imu":{"quaternion":[0.9921611547470093,-0.0008696692530065775,0.012713943608105183,0.12431350350379944],"gyroscope":[0.04367583617568016,0.10865695774555206,0.04474110156297684],"accelerometer":[-0.1247977614402771,0.020649990066885948,9.88506031036377],"rpy":[0.0014357910258695483,0.025447530671954155,0.24931049346923828],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.32955020666122437,"velocity_rad_s":-0.23889195919036865,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017538513988256454,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01580243743956089,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6410335302352905,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-9.4921875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32034653425216675,"velocity_rad_s":0.1441541165113449,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005650354083627462,"velocity_rad_s":-0.056515224277973175,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3312205374240875,"velocity_rad_s":-0.22143866121768951,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005410325713455677,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-2.852450370788574,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6087858080863953,"velocity_rad_s":0.11890055239200592,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29845139384269714,"velocity_rad_s":0.11410551518201828,"acceleration_raw":0.0,"estimated_torque_nm":3.350083827972412,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003430388169363141,"velocity_rad_s":-0.04081985354423523,"acceleration_raw":0.0,"estimated_torque_nm":0.07315763086080551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.027788182720541954,"velocity_rad_s":-0.12856221199035645,"acceleration_raw":0.0,"estimated_torque_nm":4.418501377105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018798597157001495,"velocity_rad_s":-0.002841874025762081,"acceleration_raw":0.0,"estimated_torque_nm":-2.6838741302490234,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009814497083425522,"velocity_rad_s":-0.03168225660920143,"acceleration_raw":0.0,"estimated_torque_nm":-1.5476861000061035,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2800833284854889,"velocity_rad_s":-0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21419405937194824,"velocity_rad_s":0.18867965042591095,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004853611346334219,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9800819158554077,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022997727617621422,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007538077887147665,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27675172686576843,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-4.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1771627962589264,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03736681491136551,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8630319833755493,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-2.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022650185972452164,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013733922503888607,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788073445024,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810146,"imu":{"quaternion":[0.9921572208404541,-0.0008553744992241263,0.012764119543135166,0.12434005737304688],"gyroscope":[0.041545309126377106,0.10439590364694595,0.05326321721076965],"accelerometer":[0.02693476900458336,0.07541735470294952,10.178648948669434],"rpy":[0.001477333134971559,0.025543518364429474,0.24936479330062866],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3296695053577423,"velocity_rad_s":-0.19198623299598694,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017521468922495842,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015735477209091187,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6410505771636963,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3202517628669739,"velocity_rad_s":0.14212724566459656,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005672847386449575,"velocity_rad_s":-0.03609352558851242,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33139097690582275,"velocity_rad_s":-0.215984508395195,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013874003663659096,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005383542273193598,"velocity_rad_s":-0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-2.7405896186828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6089307069778442,"velocity_rad_s":0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2983519434928894,"velocity_rad_s":0.1210072934627533,"acceleration_raw":0.0,"estimated_torque_nm":3.350083827972412,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0034005737397819757,"velocity_rad_s":-0.04365881532430649,"acceleration_raw":0.0,"estimated_torque_nm":0.07315763086080551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02786853536963463,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":4.474431991577148,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018775850534439087,"velocity_rad_s":-0.001894582761451602,"acceleration_raw":0.0,"estimated_torque_nm":-2.635236978530884,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009809411130845547,"velocity_rad_s":-0.02112150378525257,"acceleration_raw":0.0,"estimated_torque_nm":-1.6246752738952637,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2798795998096466,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2143019139766693,"velocity_rad_s":0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004853611346334219,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9798422455787659,"velocity_rad_s":-0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022961774840950966,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007526093628257513,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2766558527946472,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-4.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17713883519172668,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03736681491136551,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8629481196403503,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022614233195781708,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.8062499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013757891021668911,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788075776576,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810147,"imu":{"quaternion":[0.9921532869338989,-0.0008414573967456818,0.01280994899570942,0.12436716258525848],"gyroscope":[0.03941477835178375,0.09693904966115952,0.05432847887277603],"accelerometer":[0.259471595287323,0.07092822343111038,10.228029251098633],"rpy":[0.0015170633560046554,0.025630973279476166,0.2494201511144638],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3297973573207855,"velocity_rad_s":-0.1996220350265503,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017529990524053574,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015708694234490395,"velocity_rad_s":-0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6410591006278992,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.32006630301475525,"velocity_rad_s":0.14331351220607758,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005725022405385971,"velocity_rad_s":-0.0026425011456012726,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3315443694591522,"velocity_rad_s":-0.22689282894134521,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013882526196539402,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0053701503202319145,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6089903712272644,"velocity_rad_s":0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29816514253616333,"velocity_rad_s":0.13386276364326477,"acceleration_raw":0.0,"estimated_torque_nm":3.330331802368164,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033772673923522234,"velocity_rad_s":-0.026176217943429947,"acceleration_raw":0.0,"estimated_torque_nm":0.07303119450807571,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02792210318148136,"velocity_rad_s":-0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":4.418501377105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018768280744552612,"velocity_rad_s":0.003912784159183502,"acceleration_raw":0.0,"estimated_torque_nm":-2.6838741302490234,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009814192540943623,"velocity_rad_s":-0.014962182380259037,"acceleration_raw":0.0,"estimated_torque_nm":-1.5476861000061035,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2796878516674042,"velocity_rad_s":-0.2653786838054657,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21438580751419067,"velocity_rad_s":0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004865595605224371,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9797343611717224,"velocity_rad_s":-0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022901853546500206,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007526093628257513,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2765839397907257,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-4.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17712685465812683,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8629001975059509,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022542327642440796,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013757891021668911,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788077454080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810148,"imu":{"quaternion":[0.992149293422699,-0.0008292186539620161,0.012851218692958355,0.12439427524805069],"gyroscope":[0.035153720527887344,0.08948220312595367,0.05432847887277603],"accelerometer":[0.37080198526382446,-0.1454477459192276,10.23072338104248],"rpy":[0.001552332192659378,0.025709789246320724,0.24947544932365417],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3298910856246948,"velocity_rad_s":-0.17780542373657227,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01750442571938038,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015708694234490395,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.641067624092102,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3199714422225952,"velocity_rad_s":0.14284174144268036,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005776537116616964,"velocity_rad_s":0.01128818653523922,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3316977620124817,"velocity_rad_s":-0.20725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005356758367270231,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090585589408875,"velocity_rad_s":0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29807350039482117,"velocity_rad_s":0.13546672463417053,"acceleration_raw":0.0,"estimated_torque_nm":3.330331802368164,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033620018512010574,"velocity_rad_s":-0.02711690589785576,"acceleration_raw":0.0,"estimated_torque_nm":0.07303119450807571,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02802923694252968,"velocity_rad_s":-0.0857081338763237,"acceleration_raw":0.0,"estimated_torque_nm":4.418501377105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018775850534439087,"velocity_rad_s":0.0029251822270452976,"acceleration_raw":0.0,"estimated_torque_nm":-2.68542742729187,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009809411130845547,"velocity_rad_s":-0.006869067903608084,"acceleration_raw":0.0,"estimated_torque_nm":-1.7018780708312988,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2794601619243622,"velocity_rad_s":-0.27765053510665894,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21449366211891174,"velocity_rad_s":0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004841627087444067,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9796145558357239,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022853918373584747,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007502125110477209,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2764880657196045,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-4.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17711485922336578,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8628402352333069,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02250637486577034,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013757891021668911,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788079370432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810149,"imu":{"quaternion":[0.9921455383300781,-0.0008170165820047259,0.012887664139270782,0.12442091107368469],"gyroscope":[0.034088458865880966,0.08096008747816086,0.05326321721076965],"accelerometer":[0.37080198526382446,-0.1454477459192276,10.23072338104248],"rpy":[0.0015863185981288552,0.025779040530323982,0.24952973425388336],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3300956189632416,"velocity_rad_s":-0.13744467496871948,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01751294732093811,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015668518841266632,"velocity_rad_s":-0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.641067624092102,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3198724687099457,"velocity_rad_s":0.14500099420547485,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005820827558636665,"velocity_rad_s":0.02430964633822441,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3319278657436371,"velocity_rad_s":-0.1690787822008133,"acceleration_raw":0.0,"estimated_torque_nm":4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005343366414308548,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091182231903076,"velocity_rad_s":0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29799026250839233,"velocity_rad_s":0.14129653573036194,"acceleration_raw":0.0,"estimated_torque_nm":3.330331802368164,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00336128706112504,"velocity_rad_s":-0.022532423958182335,"acceleration_raw":0.0,"estimated_torque_nm":0.07303119450807571,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.028109589591622353,"velocity_rad_s":-0.11142057180404663,"acceleration_raw":0.0,"estimated_torque_nm":4.3625712394714355,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01876823976635933,"velocity_rad_s":-0.006781531032174826,"acceleration_raw":0.0,"estimated_torque_nm":-2.586599826812744,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009794761426746845,"velocity_rad_s":-0.004284163471311331,"acceleration_raw":0.0,"estimated_torque_nm":-1.7016645669937134,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27904069423675537,"velocity_rad_s":-0.2853204309940338,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21463747322559357,"velocity_rad_s":0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004829642828553915,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9794827103614807,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022829949855804443,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007502125110477209,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2762843370437622,"velocity_rad_s":-0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":-4.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17710287868976593,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8628042936325073,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022482406347990036,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.8062499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013757891021668911,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788081287168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810150,"imu":{"quaternion":[0.9921416640281677,-0.0008068889146670699,0.012918438762426376,0.12444861978292465],"gyroscope":[0.02876213565468788,0.07137271016836166,0.05539374426007271],"accelerometer":[0.4776432514190674,-0.19213469326496124,10.450690269470215],"rpy":[0.0016148070571944118,0.025837548077106476,0.24958612024784088],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33019787073135376,"velocity_rad_s":-0.13744467496871948,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01750442571938038,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01562834158539772,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.641067624092102,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31977352499961853,"velocity_rad_s":0.14501570165157318,"acceleration_raw":0.0,"estimated_torque_nm":6.927979946136475,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005850607063621283,"velocity_rad_s":0.028025541454553604,"acceleration_raw":0.0,"estimated_torque_nm":-1.8850915431976318,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3320471942424774,"velocity_rad_s":-0.16253380477428436,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013942181132733822,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005289798602461815,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-2.6287286281585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6092289686203003,"velocity_rad_s":0.09162978827953339,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29791948199272156,"velocity_rad_s":0.1316964328289032,"acceleration_raw":0.0,"estimated_torque_nm":3.330331802368164,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033534399699419737,"velocity_rad_s":-0.020596152171492577,"acceleration_raw":0.0,"estimated_torque_nm":0.07303119450807571,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.028109589591622353,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018775807693600655,"velocity_rad_s":0.006784217897802591,"acceleration_raw":0.0,"estimated_torque_nm":-2.6367902755737305,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.00978998001664877,"velocity_rad_s":0.003040572162717581,"acceleration_raw":0.0,"estimated_torque_nm":-1.778867244720459,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2788010239601135,"velocity_rad_s":-0.3098641335964203,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21474532783031464,"velocity_rad_s":0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004817658569663763,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9792909622192383,"velocity_rad_s":-0.17947575449943542,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022793997079133987,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007502125110477209,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27620044350624084,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-3.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17709089815616608,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03735483065247536,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.862684428691864,"velocity_rad_s":-0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022458437830209732,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.8062499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013769874349236488,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788083181216,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810151,"imu":{"quaternion":[0.9921375513076782,-0.0007967527490109205,0.01294154766947031,0.1244794949889183],"gyroscope":[0.026631608605384827,0.05752427130937576,0.06178532913327217],"accelerometer":[0.6257844567298889,-0.03411737456917763,10.570100784301758],"rpy":[0.0016414881683886051,0.025880837813019753,0.2496488094329834],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33030015230178833,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01751294732093811,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.015614950098097324,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6410846710205078,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-9.404296875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31961652636528015,"velocity_rad_s":0.14771291613578796,"acceleration_raw":0.0,"estimated_torque_nm":7.01856803894043,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005996922496706247,"velocity_rad_s":0.043837882578372955,"acceleration_raw":0.0,"estimated_torque_nm":-1.833848237991333,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33212387561798096,"velocity_rad_s":-0.14617133140563965,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.005276407115161419,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-2.684659004211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6092801094055176,"velocity_rad_s":0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29781490564346313,"velocity_rad_s":0.12421519309282303,"acceleration_raw":0.0,"estimated_torque_nm":3.4207727909088135,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0032728740479797125,"velocity_rad_s":-0.016824256628751755,"acceleration_raw":0.0,"estimated_torque_nm":0.1253241002559662,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.028163157403469086,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018775828182697296,"velocity_rad_s":0.0009714774787425995,"acceleration_raw":0.0,"estimated_torque_nm":-2.6367902755737305,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009799695573747158,"velocity_rad_s":-0.0006315677310340106,"acceleration_raw":0.0,"estimated_torque_nm":-1.778867244720459,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2785613238811493,"velocity_rad_s":-0.3160000443458557,"acceleration_raw":0.0,"estimated_torque_nm":1.6875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21486517786979675,"velocity_rad_s":0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004817658569663763,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9791951179504395,"velocity_rad_s":-0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022710107266902924,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007478156592696905,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2760806083679199,"velocity_rad_s":-0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":-3.9375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17710287868976593,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03736681491136551,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8626484870910645,"velocity_rad_s":-0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022422485053539276,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.8062499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01378185860812664,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788085083872,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810172,"imu":{"quaternion":[0.992073118686676,-0.0004459056071937084,0.012237101793289185,0.12506438791751862],"gyroscope":[0.0021305286791175604,-0.042610570788383484,0.05432847887277603],"accelerometer":[0.8735843300819397,0.05925649031996727,10.377068519592285],"rpy":[0.002176758134737611,0.02439415268599987,0.2508309483528137],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316381275653839,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01715501770377159,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014690909534692764,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411528587341309,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31802013516426086,"velocity_rad_s":0.08812130242586136,"acceleration_raw":0.0,"estimated_torque_nm":6.1136627197265625,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004971904214471579,"velocity_rad_s":-0.07728146016597748,"acceleration_raw":0.0,"estimated_torque_nm":-1.7302329540252686,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331465423107147,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01429158728569746,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0045264605432748795,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6097147464752197,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29735660552978516,"velocity_rad_s":0.01650713011622429,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003182048909366131,"velocity_rad_s":0.0007851459668017924,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.027279291301965714,"velocity_rad_s":0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":3.5236151218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01820633001625538,"velocity_rad_s":-0.026178831234574318,"acceleration_raw":0.0,"estimated_torque_nm":-2.239927053451538,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.00930333323776722,"velocity_rad_s":-0.00657590152695775,"acceleration_raw":0.0,"estimated_torque_nm":-1.6238210201263428,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2728208899497986,"velocity_rad_s":-0.22856314480304718,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21645908057689667,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004422178957611322,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977229654788971,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02196708507835865,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007046724669635296,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2717423141002655,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-3.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17722272872924805,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03730689361691475,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.861857533454895,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022230736911296844,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013745906762778759,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788086977248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810173,"imu":{"quaternion":[0.9920696020126343,-0.00043827679473906755,0.012202203273773193,0.12509538233280182],"gyroscope":[0.0063915858045220375,-0.04367583617568016,0.06178532913327217],"accelerometer":[0.8735843300819397,0.05925649031996727,10.377068519592285],"rpy":[0.0021839241962879896,0.02432292141020298,0.2508932650089264],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316551744937897,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01708684116601944,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014623950235545635,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411528587341309,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31794217228889465,"velocity_rad_s":0.09603188931941986,"acceleration_raw":0.0,"estimated_torque_nm":6.022200107574463,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004921756684780121,"velocity_rad_s":-0.07443107664585114,"acceleration_raw":0.0,"estimated_torque_nm":-1.6782115697860718,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331550657749176,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014342720620334148,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00445950124412775,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6097147464752197,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29733994603157043,"velocity_rad_s":0.02022995427250862,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031819059513509274,"velocity_rad_s":0.001680083922110498,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02719894051551819,"velocity_rad_s":0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":3.5236151218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018145758658647537,"velocity_rad_s":-0.03683283552527428,"acceleration_raw":0.0,"estimated_torque_nm":-2.2383737564086914,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009331869892776012,"velocity_rad_s":-0.014551748521625996,"acceleration_raw":0.0,"estimated_torque_nm":-1.4696290493011475,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2725452482700348,"velocity_rad_s":-0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21645908057689667,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0043982104398310184,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9771817326545715,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021931132301688194,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007022756151854992,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27135881781578064,"velocity_rad_s":-0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":-3.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17724668979644775,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0373188778758049,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8618096113204956,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022230736911296844,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013757891021668911,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788088872320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810174,"imu":{"quaternion":[0.9920660853385925,-0.00042951107025146484,0.012163531966507435,0.1251273900270462],"gyroscope":[0.0074568502604961395,-0.0511326864361763,0.06391585618257523],"accelerometer":[0.9157821536064148,0.0727238729596138,10.265738487243652],"rpy":[0.0021924208849668503,0.02424391731619835,0.250957727432251],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316551744937897,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01703570783138275,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01453020703047514,"velocity_rad_s":-0.09770727157592773,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411528587341309,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3178683817386627,"velocity_rad_s":0.10706937313079834,"acceleration_raw":0.0,"estimated_torque_nm":6.1136627197265625,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004864340648055077,"velocity_rad_s":-0.0789838433265686,"acceleration_raw":0.0,"estimated_torque_nm":-1.7302329540252686,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331465423107147,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014359764754772186,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004379149992018938,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609697699546814,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29732319712638855,"velocity_rad_s":0.01763182505965233,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003167265560477972,"velocity_rad_s":-0.008493621833622456,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.027131980285048485,"velocity_rad_s":0.09770727157592773,"acceleration_raw":0.0,"estimated_torque_nm":3.5236151218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018130622804164886,"velocity_rad_s":-0.039752643555402756,"acceleration_raw":0.0,"estimated_torque_nm":-2.2383737564086914,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009341432712972164,"velocity_rad_s":-0.010169864632189274,"acceleration_raw":0.0,"estimated_torque_nm":-1.4696290493011475,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27240145206451416,"velocity_rad_s":-0.2070874124765396,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21647106111049652,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004338289611041546,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9770379066467285,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021919148042798042,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006998787634074688,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27120301127433777,"velocity_rad_s":-0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":-3.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1772586703300476,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0372949093580246,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.861713707447052,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-2.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022230736911296844,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013757891021668911,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788090749696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810175,"imu":{"quaternion":[0.9920626878738403,-0.00041831634007394314,0.0121229849755764,0.12515830993652344],"gyroscope":[0.011717907153069973,-0.05539374426007271,0.06178532913327217],"accelerometer":[0.8125321865081787,0.0520738884806633,10.311527252197266],"rpy":[0.002205237979069352,0.024160584434866905,0.25101998448371887],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316466510295868,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.017001619562506676,"velocity_rad_s":0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01446324773132801,"velocity_rad_s":-0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411528587341309,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31777796149253845,"velocity_rad_s":0.10394247621297836,"acceleration_raw":0.0,"estimated_torque_nm":6.1136627197265625,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00485055660828948,"velocity_rad_s":-0.0715806856751442,"acceleration_raw":0.0,"estimated_torque_nm":-1.7302329540252686,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33312949538230896,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014376808889210224,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004325582180172205,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609697699546814,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.297281414270401,"velocity_rad_s":0.02890709415078163,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003137949388474226,"velocity_rad_s":-0.02249411679804325,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02702484466135502,"velocity_rad_s":0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":3.467684745788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01809275709092617,"velocity_rad_s":-0.03781506046652794,"acceleration_raw":0.0,"estimated_torque_nm":-2.1897366046905518,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009355624206364155,"velocity_rad_s":-0.008945818059146404,"acceleration_raw":0.0,"estimated_torque_nm":-1.5466182231903076,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.272269606590271,"velocity_rad_s":-0.20555342733860016,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21645908057689667,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004326305352151394,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9769540429115295,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021859226748347282,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006974819116294384,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2709992825984955,"velocity_rad_s":-0.2592427730560303,"acceleration_raw":0.0,"estimated_torque_nm":-3.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17727066576480865,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0372949093580246,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8616897463798523,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02220677025616169,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013769874349236488,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788094162144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810176,"imu":{"quaternion":[0.9920592904090881,-0.0004091183072887361,0.012078017927706242,0.12518924474716187],"gyroscope":[0.0063915858045220375,-0.06391585618257523,0.06178532913327217],"accelerometer":[0.661697506904602,0.12030863761901855,10.396821022033691],"rpy":[0.0022129793651401997,0.024068979546427727,0.25108224153518677],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316466510295868,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.373046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016950488090515137,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014423071406781673,"velocity_rad_s":-0.08913645893335342,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.641144335269928,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3176634609699249,"velocity_rad_s":0.10394247621297836,"acceleration_raw":0.0,"estimated_torque_nm":6.204282283782959,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004691885784268379,"velocity_rad_s":-0.0715806856751442,"acceleration_raw":0.0,"estimated_torque_nm":-1.6790074110031128,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331209719181061,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014393853023648262,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004272014833986759,"velocity_rad_s":-0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609697699546814,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2972438335418701,"velocity_rad_s":0.03424575552344322,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031159089412540197,"velocity_rad_s":-0.02439378760755062,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02690431848168373,"velocity_rad_s":0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":3.4117543697357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01807762123644352,"velocity_rad_s":-0.032002322375774384,"acceleration_raw":0.0,"estimated_torque_nm":-2.1897366046905518,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009365187026560307,"velocity_rad_s":-0.005273677874356508,"acceleration_raw":0.0,"estimated_torque_nm":-1.5466182231903076,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2721377909183502,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21648304164409637,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004314321093261242,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9768461585044861,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021823273971676826,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006914897821843624,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27078357338905334,"velocity_rad_s":-0.2607767581939697,"acceleration_raw":0.0,"estimated_torque_nm":-3.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17729462683200836,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.037282925099134445,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.861629843711853,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022218754515051842,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01378185860812664,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788094797632,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810177,"imu":{"quaternion":[0.9920560121536255,-0.0004034272860735655,0.01202793326228857,0.12522029876708984],"gyroscope":[-0.0021305286791175604,-0.07350324094295502,0.06178532913327217],"accelerometer":[0.6006453633308411,0.1454477459192276,10.193014144897461],"rpy":[0.0022124748211354017,0.02396809682250023,0.25114455819129944],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33162108063697815,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01691639982163906,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014396287500858307,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.641144335269928,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31758955121040344,"velocity_rad_s":0.10452991724014282,"acceleration_raw":0.0,"estimated_torque_nm":6.1136627197265625,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004663480445742607,"velocity_rad_s":-0.05764707177877426,"acceleration_raw":0.0,"estimated_torque_nm":-1.7302329540252686,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3330783545970917,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014479073695838451,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004231838975101709,"velocity_rad_s":-0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6096806526184082,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29722297191619873,"velocity_rad_s":0.038530927151441574,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003108472563326359,"velocity_rad_s":-0.028138233348727226,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026823967695236206,"velocity_rad_s":0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":3.4117543697357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.018039777874946594,"velocity_rad_s":-0.0348845049738884,"acceleration_raw":0.0,"estimated_torque_nm":-2.2383737564086914,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009389094077050686,"velocity_rad_s":-0.0183020681142807,"acceleration_raw":0.0,"estimated_torque_nm":-1.4696290493011475,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2718621492385864,"velocity_rad_s":-0.18867965042591095,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21648304164409637,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004290352575480938,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9767503142356873,"velocity_rad_s":-0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02177533693611622,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068789455108344555,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2704000771045685,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-3.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17735454440116882,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03725895658135414,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8615579605102539,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022194785997271538,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013805827125906944,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788096702112,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810178,"imu":{"quaternion":[0.9920527338981628,-0.000398164673242718,0.011973647400736809,0.12525080144405365],"gyroscope":[-0.004261057358235121,-0.08202534914016724,0.06072006747126579],"accelerometer":[0.6006453633308411,0.1454477459192276,10.193014144897461],"rpy":[0.002210048260167241,0.02385898306965828,0.251205712556839],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33161255717277527,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.373046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01684822142124176,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014275760389864445,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411358118057251,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-10.283203125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3175281286239624,"velocity_rad_s":0.10447309911251068,"acceleration_raw":0.0,"estimated_torque_nm":6.1136627197265625,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004598692990839481,"velocity_rad_s":-0.07064776122570038,"acceleration_raw":0.0,"estimated_torque_nm":-1.7302329540252686,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3330698311328888,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014479073695838451,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004138095770031214,"velocity_rad_s":-0.0857081338763237,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6096721291542053,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2971934974193573,"velocity_rad_s":0.04128332436084747,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003057526657357812,"velocity_rad_s":-0.04206553101539612,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02673022449016571,"velocity_rad_s":0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":3.4117543697357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01798679679632187,"velocity_rad_s":-0.036822088062763214,"acceleration_raw":0.0,"estimated_torque_nm":-2.2383737564086914,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009422563947737217,"velocity_rad_s":-0.01952611468732357,"acceleration_raw":0.0,"estimated_torque_nm":-1.4696290493011475,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2717662751674652,"velocity_rad_s":-0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21648304164409637,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004278368316590786,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9765226244926453,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02171541564166546,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068429927341639996,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27023229002952576,"velocity_rad_s":-0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":-3.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17739050090312958,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03725895658135414,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8615099787712097,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02220677025616169,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013805827125906944,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788098581952,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810179,"imu":{"quaternion":[0.9920527338981628,-0.000398164673242718,0.011973647400736809,0.12525080144405365],"gyroscope":[-0.004261057358235121,-0.08202534914016724,0.06072006747126579],"accelerometer":[0.6006453633308411,0.1454477459192276,10.193014144897461],"rpy":[0.002210048260167241,0.02385898306965828,0.251205712556839],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316040337085724,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016805611550807953,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":-0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411613821983337,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-10.283203125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31742116808891296,"velocity_rad_s":0.1076730489730835,"acceleration_raw":0.0,"estimated_torque_nm":6.022200107574463,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004599566571414471,"velocity_rad_s":-0.06133574992418289,"acceleration_raw":0.0,"estimated_torque_nm":-1.6782115697860718,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3330272138118744,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014504640363156796,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004111311864107847,"velocity_rad_s":-0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6096891760826111,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29711803793907166,"velocity_rad_s":0.05251112952828407,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029699895530939102,"velocity_rad_s":-0.04865033179521561,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026636481285095215,"velocity_rad_s":0.13713301718235016,"acceleration_raw":0.0,"estimated_torque_nm":3.3558239936828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01794138364493847,"velocity_rad_s":-0.037785500288009644,"acceleration_raw":0.0,"estimated_torque_nm":-2.188183546066284,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009451252408325672,"velocity_rad_s":-0.02262531965970993,"acceleration_raw":0.0,"estimated_torque_nm":-1.3924262523651123,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27161046862602234,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21648304164409637,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004278368316590786,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9764267206192017,"velocity_rad_s":-0.15493206679821014,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021679462864995003,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006831008475273848,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.27002856135368347,"velocity_rad_s":-0.2592427730560303,"acceleration_raw":0.0,"estimated_torque_nm":-3.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17739050090312958,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03724697232246399,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8613781929016113,"velocity_rad_s":-0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022218754515051842,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013817811384797096,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788100464416,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810179,"imu":{"quaternion":[0.992047131061554,-0.0003846624167636037,0.01185512263327837,0.12530700862407684],"gyroscope":[-0.0021305286791175604,-0.09480852633714676,0.05539374426007271],"accelerometer":[0.661697506904602,0.09786299616098404,10.058341026306152],"rpy":[0.0022084712982177734,0.023620277643203735,0.25131839513778687],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316040337085724,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01678004488348961,"velocity_rad_s":0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014208801090717316,"velocity_rad_s":-0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.641144335269928,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31731465458869934,"velocity_rad_s":0.10817120224237442,"acceleration_raw":0.0,"estimated_torque_nm":6.022200107574463,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004498867783695459,"velocity_rad_s":-0.06783179193735123,"acceleration_raw":0.0,"estimated_torque_nm":-1.6782115697860718,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3330186903476715,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014538728632032871,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004071136470884085,"velocity_rad_s":-0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6096721291542053,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2970554828643799,"velocity_rad_s":0.062111228704452515,"acceleration_raw":0.0,"estimated_torque_nm":2.3416976928710938,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002947734436020255,"velocity_rad_s":-0.05058660730719566,"acceleration_raw":0.0,"estimated_torque_nm":0.22184503078460693,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026448993012309074,"velocity_rad_s":0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":3.3558239936828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017911110073328018,"velocity_rad_s":-0.0426267646253109,"acceleration_raw":0.0,"estimated_torque_nm":-2.188183546066284,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009470378048717976,"velocity_rad_s":-0.02692902833223343,"acceleration_raw":0.0,"estimated_torque_nm":-1.3924262523651123,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2714906334877014,"velocity_rad_s":-0.1702718734741211,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21648304164409637,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004266384057700634,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9763308763504028,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02160755731165409,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00678307143971324,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2698008716106415,"velocity_rad_s":-0.2730485796928406,"acceleration_raw":0.0,"estimated_torque_nm":-3.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17741447687149048,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03724697232246399,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8613182306289673,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022218754515051842,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013805827125906944,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788102612448,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810180,"imu":{"quaternion":[0.9920442700386047,-0.0003792674979194999,0.01179253589361906,0.1253354251384735],"gyroscope":[-0.0063915858045220375,-0.09906958043575287,0.056459009647369385],"accelerometer":[0.6536170840263367,0.10863690078258514,9.948805809020996],"rpy":[0.0022041548509150743,0.023494666442275047,0.25137534737586975],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33162960410118103,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01672891341149807,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014168625697493553,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411358118057251,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-10.634765625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3172653317451477,"velocity_rad_s":0.10350926220417023,"acceleration_raw":0.0,"estimated_torque_nm":5.201566219329834,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004484765697270632,"velocity_rad_s":-0.05022671818733215,"acceleration_raw":0.0,"estimated_torque_nm":-1.5197601318359375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33299314975738525,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014572817832231522,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004030960611999035,"velocity_rad_s":-0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6096721291542053,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2970135807991028,"velocity_rad_s":0.05947750061750412,"acceleration_raw":0.0,"estimated_torque_nm":1.5321691036224365,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002903921063989401,"velocity_rad_s":-0.055198539048433304,"acceleration_raw":0.0,"estimated_torque_nm":0.26837730407714844,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026341859251260757,"velocity_rad_s":0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":3.299893617630005,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01788087747991085,"velocity_rad_s":-0.042621392756700516,"acceleration_raw":0.0,"estimated_torque_nm":-2.0878028869628906,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009508934803307056,"velocity_rad_s":-0.02941621094942093,"acceleration_raw":0.0,"estimated_torque_nm":-1.2380207777023315,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27128690481185913,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21647106111049652,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004290352575480938,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9762829542160034,"velocity_rad_s":-0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02159557305276394,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006747118663042784,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26940539479255676,"velocity_rad_s":-0.2715146243572235,"acceleration_raw":0.0,"estimated_torque_nm":-3.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17741447687149048,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03723498806357384,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8612343668937683,"velocity_rad_s":-0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02220677025616169,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013829795643687248,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788104495680,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810181,"imu":{"quaternion":[0.9920415878295898,-0.00037485663779079914,0.011729897931218147,0.1253627985715866],"gyroscope":[-0.008522114716470242,-0.09906958043575287,0.05432847887277603],"accelerometer":[0.6186018586158752,0.15442600846290588,9.796175956726074],"rpy":[0.0021978404838591814,0.023369206115603447,0.25143009424209595],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316381275653839,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016652213409543037,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01411505788564682,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411613821983337,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3172488808631897,"velocity_rad_s":0.08515674620866776,"acceleration_raw":0.0,"estimated_torque_nm":4.836558818817139,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004484900273382664,"velocity_rad_s":-0.032733481377363205,"acceleration_raw":0.0,"estimated_torque_nm":-1.4149216413497925,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33300167322158813,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014581339433789253,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003977392800152302,"velocity_rad_s":-0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6096380352973938,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-11.865234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29699674248695374,"velocity_rad_s":0.05361209064722061,"acceleration_raw":0.0,"estimated_torque_nm":0.9930756092071533,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028748195618391037,"velocity_rad_s":-0.0542212538421154,"acceleration_raw":0.0,"estimated_torque_nm":0.3683546185493469,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02622133120894432,"velocity_rad_s":0.14056134223937988,"acceleration_raw":0.0,"estimated_torque_nm":3.2439630031585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017843054607510567,"velocity_rad_s":-0.04165797308087349,"acceleration_raw":0.0,"estimated_torque_nm":-1.9889752864837646,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009542558342218399,"velocity_rad_s":-0.02631700411438942,"acceleration_raw":0.0,"estimated_torque_nm":-1.2378071546554565,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2711670696735382,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":2.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21647106111049652,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004290352575480938,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9761870503425598,"velocity_rad_s":-0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021559620276093483,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00672315014526248,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26921364665031433,"velocity_rad_s":-0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":-3.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1774624139070511,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.037223003804683685,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.861174464225769,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.0586867518723011,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02220677025616169,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.831250011920929,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013817811384797096,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788106084608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810182,"imu":{"quaternion":[0.9920415878295898,-0.00037485663779079914,0.011729897931218147,0.1253627985715866],"gyroscope":[-0.008522114716470242,-0.09906958043575287,0.05432847887277603],"accelerometer":[0.6186018586158752,0.15442600846290588,9.796175956726074],"rpy":[0.0021978404838591814,0.023369206115603447,0.25143009424209595],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316466510295868,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01661812514066696,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014048098586499691,"velocity_rad_s":-0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411187648773193,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3172612488269806,"velocity_rad_s":0.05460809916257858,"acceleration_raw":0.0,"estimated_torque_nm":4.745939254760742,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004477547015994787,"velocity_rad_s":-0.034840214997529984,"acceleration_raw":0.0,"estimated_torque_nm":-1.4661473035812378,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3330186903476715,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014564295299351215,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004004176706075668,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6095187664031982,"velocity_rad_s":-0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2970721423625946,"velocity_rad_s":0.009552630595862865,"acceleration_raw":0.0,"estimated_torque_nm":0.9930756092071533,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029478773940354586,"velocity_rad_s":0.00547942565754056,"acceleration_raw":0.0,"estimated_torque_nm":0.3683546185493469,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.026127588003873825,"velocity_rad_s":0.14227551221847534,"acceleration_raw":0.0,"estimated_torque_nm":3.2439630031585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01784311793744564,"velocity_rad_s":-0.03002174384891987,"acceleration_raw":0.0,"estimated_torque_nm":-1.9889752864837646,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009571705013513565,"velocity_rad_s":-0.023947088047862053,"acceleration_raw":0.0,"estimated_torque_nm":-1.2378071546554565,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.271071195602417,"velocity_rad_s":-0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":2.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21644708514213562,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004290352575480938,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9760552048683167,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021535653620958328,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006699182093143463,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2690218985080719,"velocity_rad_s":-0.2607767581939697,"acceleration_raw":0.0,"estimated_torque_nm":-3.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17749835550785065,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03721101954579353,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8610066771507263,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-2.75,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022194785997271538,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013817811384797096,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788108248992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810183,"imu":{"quaternion":[0.992036759853363,-0.0003553780261427164,0.01160619966685772,0.12541253864765167],"gyroscope":[0.0053263213485479355,-0.09906958043575287,0.04687162861227989],"accelerometer":[0.579995334148407,0.09965864568948746,9.710882186889648],"rpy":[0.0022066212259233,0.023118751123547554,0.25152984261512756],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33167222142219543,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016584036871790886,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014034707099199295,"velocity_rad_s":-0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411187648773193,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31728595495224,"velocity_rad_s":0.025193748995661736,"acceleration_raw":0.0,"estimated_torque_nm":4.745939254760742,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004477327223867178,"velocity_rad_s":-0.018365934491157532,"acceleration_raw":0.0,"estimated_torque_nm":-1.4661473035812378,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33303573727607727,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014538728632032871,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004004176706075668,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6094846725463867,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2971388101577759,"velocity_rad_s":-0.024047711864113808,"acceleration_raw":0.0,"estimated_torque_nm":0.813081681728363,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029629284981638193,"velocity_rad_s":0.012256366200745106,"acceleration_raw":0.0,"estimated_torque_nm":0.367202490568161,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0258865337818861,"velocity_rad_s":0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":3.1321022510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0178279597312212,"velocity_rad_s":-0.031948573887348175,"acceleration_raw":0.0,"estimated_torque_nm":-2.0376124382019043,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009571552276611328,"velocity_rad_s":-0.030145497992634773,"acceleration_raw":0.0,"estimated_torque_nm":-1.1608179807662964,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27098730206489563,"velocity_rad_s":-0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21645908057689667,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004314321093261242,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9759593605995178,"velocity_rad_s":-0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02148771658539772,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006663229316473007,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26883015036582947,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-3.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1775103509426117,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.037223003804683685,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8609227538108826,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-2.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022194785997271538,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013865748420357704,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788110131456,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810184,"imu":{"quaternion":[0.992034912109375,-0.0003417128464207053,0.01154340710490942,0.1254328340291977],"gyroscope":[0.009587379172444344,-0.1022653728723526,0.04048004373908043],"accelerometer":[0.5422866940498352,0.19931729137897491,9.45410442352295],"rpy":[0.0022184504196047783,0.022990675643086433,0.25157055258750916],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33166369795799255,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01654142513871193,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.014007923193275928,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411102414131165,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31727784872055054,"velocity_rad_s":0.018842549994587898,"acceleration_raw":0.0,"estimated_torque_nm":4.654476642608643,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004448384046554565,"velocity_rad_s":-0.02584652043879032,"acceleration_raw":0.0,"estimated_torque_nm":-1.414125919342041,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33305278420448303,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01453020703047514,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.004004176706075668,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.609467625617981,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-11.865234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29718929529190063,"velocity_rad_s":-0.039093274623155594,"acceleration_raw":0.0,"estimated_torque_nm":0.813081681728363,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030502513982355595,"velocity_rad_s":0.03277761489152908,"acceleration_raw":0.0,"estimated_torque_nm":0.367202490568161,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.025739222764968872,"velocity_rad_s":0.16970211267471313,"acceleration_raw":0.0,"estimated_torque_nm":3.0202414989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017797768115997314,"velocity_rad_s":-0.03579685837030411,"acceleration_raw":0.0,"estimated_torque_nm":-1.9874221086502075,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009629540145397186,"velocity_rad_s":-0.04502950236201286,"acceleration_raw":0.0,"estimated_torque_nm":-1.0836151838302612,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27080753445625305,"velocity_rad_s":-0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2164231240749359,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004290352575480938,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9758514761924744,"velocity_rad_s":-0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021463748067617416,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006663229316473007,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2684226632118225,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":-3.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17754629254341125,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-1.8125,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03721101954579353,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8608508706092834,"velocity_rad_s":-0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":-2.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022182801738381386,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013853764161467552,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788111721408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810185,"imu":{"quaternion":[0.992034912109375,-0.0003417128464207053,0.01154340710490942,0.1254328340291977],"gyroscope":[0.009587379172444344,-0.1022653728723526,0.04048004373908043],"accelerometer":[0.5422866940498352,0.19931729137897491,9.45410442352295],"rpy":[0.0022184504196047783,0.022990675643086433,0.25157055258750916],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3316551744937897,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016473248600959778,"velocity_rad_s":0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013940962962806225,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411187648773193,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3172861337661743,"velocity_rad_s":0.011985084973275661,"acceleration_raw":0.0,"estimated_torque_nm":4.745939254760742,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004433811642229557,"velocity_rad_s":-0.028688304126262665,"acceleration_raw":0.0,"estimated_torque_nm":-1.4661473035812378,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33303573727607727,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014487596228718758,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003990784753113985,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.733842372894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6094420552253723,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29723137617111206,"velocity_rad_s":-0.04671692103147507,"acceleration_raw":0.0,"estimated_torque_nm":0.813081681728363,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0031230233144015074,"velocity_rad_s":0.05879659205675125,"acceleration_raw":0.0,"estimated_torque_nm":0.367202490568161,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.025632089003920555,"velocity_rad_s":0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":3.0202414989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017661552876234055,"velocity_rad_s":-0.059050511568784714,"acceleration_raw":0.0,"estimated_torque_nm":-1.9874221086502075,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.00972532108426094,"velocity_rad_s":-0.058474473655223846,"acceleration_raw":0.0,"estimated_torque_nm":-1.0836151838302612,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2707236409187317,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":2.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21644708514213562,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004314321093261242,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9757556319236755,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021439779549837112,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006651245057582855,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2682309150695801,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":-3.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17757026851177216,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03718705102801323,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8607670068740845,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-2.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022182801738381386,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013877732679247856,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788113594080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810186,"imu":{"quaternion":[0.9920332431793213,-0.0003286348655819893,0.0114772729575634,0.12545260787010193],"gyroscope":[0.0074568502604961395,-0.10865695774555206,0.03941477835178375],"accelerometer":[0.6832453012466431,0.1562216579914093,9.425373077392578],"rpy":[0.0022282577119767666,0.02285611815750599,0.2516102194786072],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33162960410118103,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016447681933641434,"velocity_rad_s":0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013940962962806225,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411102414131165,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3172819912433624,"velocity_rad_s":0.009927543811500072,"acceleration_raw":0.0,"estimated_torque_nm":4.745939254760742,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004441097844392061,"velocity_rad_s":-0.017562061548233032,"acceleration_raw":0.0,"estimated_torque_nm":-1.4661473035812378,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33300167322158813,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014479073695838451,"velocity_rad_s":-0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003990784753113985,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6094420552253723,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-12.216796875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29730719327926636,"velocity_rad_s":-0.0532752126455307,"acceleration_raw":0.0,"estimated_torque_nm":0.813081681728363,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003268531756475568,"velocity_rad_s":0.0848064199090004,"acceleration_raw":0.0,"estimated_torque_nm":0.367202490568161,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02552495338022709,"velocity_rad_s":0.1628454625606537,"acceleration_raw":0.0,"estimated_torque_nm":3.0202414989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017585908994078636,"velocity_rad_s":-0.077452152967453,"acceleration_raw":0.0,"estimated_torque_nm":-1.887041449546814,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009792567230761051,"velocity_rad_s":-0.07259010523557663,"acceleration_raw":0.0,"estimated_torque_nm":-0.9292096495628357,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2706517279148102,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2164231240749359,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004326305352151394,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755279421806335,"velocity_rad_s":-0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02141581103205681,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006651245057582855,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.012500000186264515,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2680271863937378,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-3.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17759422957897186,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03718705102801323,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8605632185935974,"velocity_rad_s":-0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":-2.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022158833220601082,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.8187500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013877732679247856,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788115461408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810187,"imu":{"quaternion":[0.9920296669006348,-0.00030099833384156227,0.011345104314386845,0.12549267709255219],"gyroscope":[0.009587379172444344,-0.1065264344215393,0.041545309126377106],"accelerometer":[0.5009866952896118,0.04758475720882416,9.644442558288574],"rpy":[0.002250832272693515,0.022586828097701073,0.2516905665397644],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33161255717277527,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016405072063207626,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013914179988205433,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411102414131165,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3172820508480072,"velocity_rad_s":0.0036169306840747595,"acceleration_raw":0.0,"estimated_torque_nm":4.745939254760742,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004426592495292425,"velocity_rad_s":-0.01575643941760063,"acceleration_raw":0.0,"estimated_torque_nm":-1.4661473035812378,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3329675793647766,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014479073695838451,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003990784753113985,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6094420552253723,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-12.216796875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2973410487174988,"velocity_rad_s":-0.06076832488179207,"acceleration_raw":0.0,"estimated_torque_nm":0.813081681728363,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0033557116985321045,"velocity_rad_s":0.09043223410844803,"acceleration_raw":0.0,"estimated_torque_nm":0.367202490568161,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.025243723765015602,"velocity_rad_s":0.19712871313095093,"acceleration_raw":0.0,"estimated_torque_nm":2.9083807468414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0175254438072443,"velocity_rad_s":-0.07355548441410065,"acceleration_raw":0.0,"estimated_torque_nm":-1.8368511199951172,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009869680739939213,"velocity_rad_s":-0.08009073138237,"acceleration_raw":0.0,"estimated_torque_nm":-0.8520068526268005,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2706157863140106,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21638716757297516,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004350273869931698,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9753960967063904,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021343905478715897,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006639260798692703,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26785942912101746,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-3.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1776062250137329,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03718705102801323,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8604793548583984,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-2.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02208692766726017,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.8062499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01390170119702816,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788117342848,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810188,"imu":{"quaternion":[0.9920296669006348,-0.00030099833384156227,0.011345104314386845,0.12549267709255219],"gyroscope":[0.009587379172444344,-0.1065264344215393,0.041545309126377106],"accelerometer":[0.5009866952896118,0.04758475720882416,9.644442558288574],"rpy":[0.002250832272693515,0.022586828097701073,0.2516905665397644],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.331561416387558,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016405072063207626,"velocity_rad_s":0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013914179988205433,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411187648773193,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3172820508480072,"velocity_rad_s":0.00308631150983274,"acceleration_raw":0.0,"estimated_torque_nm":4.745939254760742,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004426592495292425,"velocity_rad_s":-0.0166893620043993,"acceleration_raw":0.0,"estimated_torque_nm":-1.4661473035812378,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33290791511535645,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":1.142578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014479073695838451,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0039506093598902225,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6094420552253723,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-12.216796875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29738304018974304,"velocity_rad_s":-0.06079205870628357,"acceleration_raw":0.0,"estimated_torque_nm":0.7235288619995117,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0034140043426305056,"velocity_rad_s":0.09414007514715195,"acceleration_raw":0.0,"estimated_torque_nm":0.41834327578544617,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.025096412748098373,"velocity_rad_s":0.18170124292373657,"acceleration_raw":0.0,"estimated_torque_nm":2.9083807468414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.017487727105617523,"velocity_rad_s":-0.07644303888082504,"acceleration_raw":0.0,"estimated_torque_nm":-1.8854882717132568,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.009951881133019924,"velocity_rad_s":-0.09063193947076797,"acceleration_raw":0.0,"estimated_torque_nm":-0.7750176787376404,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2705199122428894,"velocity_rad_s":-0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21633923053741455,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004350273869931698,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9752642512321472,"velocity_rad_s":-0.16720391809940338,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02129596844315529,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006627276539802551,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26748791337013245,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17766614258289337,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03718705102801323,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8603954911231995,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-2.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058698736131191254,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.022038990631699562,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.8062499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013889716938138008,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788119201536,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810189,"imu":{"quaternion":[0.992027997970581,-0.00028725029551424086,0.011288539506494999,0.12551137804985046],"gyroscope":[0.011717907153069973,-0.09161273390054703,0.0372842513024807],"accelerometer":[0.048482585698366165,-0.07451952993869781,9.639056205749512],"rpy":[0.002264332724735141,0.022471092641353607,0.2517281472682953],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33156993985176086,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.016379505395889282,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01384721975773573,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411102414131165,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.317273885011673,"velocity_rad_s":0.002025072928518057,"acceleration_raw":0.0,"estimated_torque_nm":4.654476642608643,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004412154201418161,"velocity_rad_s":-0.018555207177996635,"acceleration_raw":0.0,"estimated_torque_nm":-1.414125919342041,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3328738212585449,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":1.142578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014504640363156796,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003937217406928539,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6094250082969666,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-12.216796875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29741671681404114,"velocity_rad_s":-0.06027717888355255,"acceleration_raw":0.0,"estimated_torque_nm":0.7235288619995117,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.003472225507721305,"velocity_rad_s":0.09691639244556427,"acceleration_raw":0.0,"estimated_torque_nm":0.41834327578544617,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.024949101731181145,"velocity_rad_s":0.20055703818798065,"acceleration_raw":0.0,"estimated_torque_nm":2.9083807468414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01738191768527031,"velocity_rad_s":-0.0783463791012764,"acceleration_raw":0.0,"estimated_torque_nm":-1.835307002067566,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.010086680762469769,"velocity_rad_s":-0.10541047900915146,"acceleration_raw":0.0,"estimated_torque_nm":-0.6987173557281494,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27048397064208984,"velocity_rad_s":-0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2163272500038147,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9751444458961487,"velocity_rad_s":-0.14419420063495636,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021271999925374985,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006627276539802551,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2673201262950897,"velocity_rad_s":-0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17775003612041473,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03718705102801323,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.860287606716156,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-2.6875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.021991053596138954,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013889716938138008,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788122646112,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810190,"imu":{"quaternion":[0.992026686668396,-0.0002755657769739628,0.011237730272114277,0.12552589178085327],"gyroscope":[0.009587379172444344,-0.08096008747816086,0.02876213565468788],"accelerometer":[-0.061949968338012695,-0.10055647045373917,9.304166793823242],"rpy":[0.0022750860080122948,0.02236730232834816,0.2517572045326233],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3315528929233551,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01636246219277382,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013820436783134937,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6411017179489136,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31725749373435974,"velocity_rad_s":0.008327568881213665,"acceleration_raw":0.0,"estimated_torque_nm":4.745939254760742,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0043977657333016396,"velocity_rad_s":-0.022218070924282074,"acceleration_raw":0.0,"estimated_torque_nm":-1.4661473035812378,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33286529779434204,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":1.142578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014496118761599064,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003910433501005173,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6094079613685608,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29746299982070923,"velocity_rad_s":-0.05164750665426254,"acceleration_raw":0.0,"estimated_torque_nm":0.7235288619995117,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0035522908437997103,"velocity_rad_s":0.08015788346529007,"acceleration_raw":0.0,"estimated_torque_nm":0.41834327578544617,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.024815183132886887,"velocity_rad_s":0.18855789303779602,"acceleration_raw":0.0,"estimated_torque_nm":2.852450370788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01735932007431984,"velocity_rad_s":-0.06669928878545761,"acceleration_raw":0.0,"estimated_torque_nm":-1.8337520360946655,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.010149529203772545,"velocity_rad_s":-0.10801199823617935,"acceleration_raw":0.0,"estimated_torque_nm":-0.5443438291549683,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27043601870536804,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2162793129682541,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004386226646602154,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9749526977539062,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02124803140759468,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006603308022022247,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2671044170856476,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-3.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17777399718761444,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03717506676912308,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8601078391075134,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-2.625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.021943116560578346,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013889716938138008,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788123314976,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810207,"imu":{"quaternion":[0.9920282959938049,-8.34214806673117e-05,0.010362929664552212,0.1255890429019928],"gyroscope":[0.004261057358235121,-0.08735167235136032,-0.0],"accelerometer":[-0.1660977452993393,-0.15263035893440247,9.894038200378418],"rpy":[0.0024379463866353035,0.02058304473757744,0.25188183784484863],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33120349049568176,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01561251562088728,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013217801228165627,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409823894500732,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31704968214035034,"velocity_rad_s":-0.0027099153958261013,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003942420706152916,"velocity_rad_s":-0.017665300518274307,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.332754522562027,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014112623408436775,"velocity_rad_s":-0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091267466545105,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-14.0625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29855939745903015,"velocity_rad_s":-0.20610997080802917,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00479269539937377,"velocity_rad_s":0.26868942379951477,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02131989784538746,"velocity_rad_s":0.19198623299598694,"acceleration_raw":0.0,"estimated_torque_nm":2.349076747894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016506347805261612,"velocity_rad_s":-0.035631317645311356,"acceleration_raw":0.0,"estimated_torque_nm":-1.778484582901001,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.011913835071027279,"velocity_rad_s":-0.14326758682727814,"acceleration_raw":0.0,"estimated_torque_nm":-0.0033657222520560026,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2702442705631256,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21528461575508118,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004673847928643227,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9729512929916382,"velocity_rad_s":-0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019953735172748566,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.13750000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006759102921932936,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26142388582229614,"velocity_rad_s":-0.37275734543800354,"acceleration_raw":0.0,"estimated_torque_nm":-2.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17837320268154144,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036971334367990494,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8577589392662048,"velocity_rad_s":-0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":-2.5,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020540961995720863,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01390170119702816,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788125236096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810208,"imu":{"quaternion":[0.9920282959938049,-8.34214806673117e-05,0.010362929664552212,0.1255890429019928],"gyroscope":[0.004261057358235121,-0.08735167235136032,-0.0],"accelerometer":[-0.1660977452993393,-0.15263035893440247,9.894038200378418],"rpy":[0.0024379463866353035,0.02058304473757744,0.25188183784484863],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33120349049568176,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015518772415816784,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013164233416318893,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409738659858704,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170456290245056,"velocity_rad_s":0.0036250483244657516,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003935201559215784,"velocity_rad_s":-0.013899199664592743,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3327459990978241,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":-0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6091011762619019,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-14.0625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2987809479236603,"velocity_rad_s":-0.23086026310920715,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005149414762854576,"velocity_rad_s":0.33007439970970154,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02117258682847023,"velocity_rad_s":0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":2.349076747894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016362689435482025,"velocity_rad_s":-0.053064730018377304,"acceleration_raw":0.0,"estimated_torque_nm":-1.728403925895691,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.012111666612327099,"velocity_rad_s":-0.16051802039146423,"acceleration_raw":0.0,"estimated_torque_nm":0.07385098189115524,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27025625109672546,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21511684358119965,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004697816446423531,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9728913903236389,"velocity_rad_s":-0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019845876842737198,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006795055698603392,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26114824414253235,"velocity_rad_s":-0.38196122646331787,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17844511568546295,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036971334367990494,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8575911521911621,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-2.5,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01390170119702816,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788127176576,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810209,"imu":{"quaternion":[0.9920282363891602,-7.805811037542298e-05,0.010313272476196289,0.1255936175584793],"gyroscope":[-0.0021305286791175604,-0.0884169414639473,0.008522114716470242],"accelerometer":[-0.46417585015296936,-0.23792380094528198,9.642647743225098],"rpy":[0.0024362036492675543,0.02048315480351448,0.25189077854156494],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.331186443567276,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015467639081180096,"velocity_rad_s":0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013124058023095131,"velocity_rad_s":-0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409823894500732,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31704553961753845,"velocity_rad_s":0.004718754906207323,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00394970690831542,"velocity_rad_s":-0.00460438895970583,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33272895216941833,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013891047798097134,"velocity_rad_s":-0.0970839411020279,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090756058692932,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-13.974609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29927894473075867,"velocity_rad_s":-0.2866678237915039,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006044316105544567,"velocity_rad_s":0.4454822838306427,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.021038668230175972,"velocity_rad_s":0.20912784337997437,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016332587227225304,"velocity_rad_s":-0.05012635886669159,"acceleration_raw":0.0,"estimated_torque_nm":-1.677946925163269,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.012227959930896759,"velocity_rad_s":-0.1626598834991455,"acceleration_raw":0.0,"estimated_torque_nm":0.15047264099121094,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27023229002952576,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21500898897647858,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0047217849642038345,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9728554487228394,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01973801851272583,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006795055698603392,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26089659333229065,"velocity_rad_s":-0.3804272413253784,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03694736585021019,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8573035597801208,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":-2.5,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01390170119702816,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788128813888,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810210,"imu":{"quaternion":[0.9920276999473572,-7.609499152749777e-05,0.01026482880115509,0.1256013959646225],"gyroscope":[-0.008522114716470242,-0.08628641068935394,0.014913700520992279],"accelerometer":[-0.5781996846199036,-0.041299980133771896,9.37509536743164],"rpy":[0.002428084146231413,0.02038651518523693,0.2519060969352722],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3311949670314789,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01540798507630825,"velocity_rad_s":0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013083881698548794,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409909129142761,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31703731417655945,"velocity_rad_s":0.008441206999123096,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0039497739635407925,"velocity_rad_s":0.003783309366554022,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33272042870521545,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013856959529221058,"velocity_rad_s":-0.07963065057992935,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090585589408875,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-13.974609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2995300590991974,"velocity_rad_s":-0.2991616427898407,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0064953952096402645,"velocity_rad_s":0.49471399188041687,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.020918140187859535,"velocity_rad_s":0.20569951832294464,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01632525771856308,"velocity_rad_s":-0.03652435913681984,"acceleration_raw":0.0,"estimated_torque_nm":-1.726571798324585,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01234951987862587,"velocity_rad_s":-0.17026938498020172,"acceleration_raw":0.0,"estimated_torque_nm":0.2273455411195755,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27025625109672546,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21492509543895721,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004733768757432699,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9728554487228394,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019534287974238396,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006771087180823088,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.26064491271972656,"velocity_rad_s":-0.3773593008518219,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17851701378822327,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03693538159132004,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.857147753238678,"velocity_rad_s":-0.20555342733860016,"acceleration_raw":0.0,"estimated_torque_nm":-2.4375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020493024960160255,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01390170119702816,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788130691584,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810211,"imu":{"quaternion":[0.9920265674591064,-7.381277828244492e-05,0.010178137570619583,0.12561704218387604],"gyroscope":[-0.0074568502604961395,-0.07137271016836166,0.011717907153069973],"accelerometer":[-0.48572367429733276,0.09606734663248062,9.444228172302246],"rpy":[0.0024111417587846518,0.020213887095451355,0.25193703174591064],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3311949670314789,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015365374274551868,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013057098723948002,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409909129142761,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170332610607147,"velocity_rad_s":0.011045601218938828,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003942554816603661,"velocity_rad_s":-0.002695526694878936,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3326948583126068,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0137802604585886,"velocity_rad_s":-0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090415120124817,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-13.974609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29977723956108093,"velocity_rad_s":-0.3116435706615448,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006982673425227404,"velocity_rad_s":0.5420917868614197,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.020623520016670227,"velocity_rad_s":0.22626948356628418,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01639384590089321,"velocity_rad_s":-0.033603936433792114,"acceleration_raw":0.0,"estimated_torque_nm":-1.7250280380249023,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01252049207687378,"velocity_rad_s":-0.17465797066688538,"acceleration_raw":0.0,"estimated_torque_nm":0.38129591941833496,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27023229002952576,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21484120190143585,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004757737275213003,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9728794097900391,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019390476867556572,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006819024216383696,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2600816488265991,"velocity_rad_s":-0.374291330575943,"acceleration_raw":0.0,"estimated_torque_nm":-2.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17852900922298431,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03693538159132004,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8569919466972351,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-2.4375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.0204570721834898,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01390170119702816,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788132595424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810212,"imu":{"quaternion":[0.9920265674591064,-7.381277828244492e-05,0.010178137570619583,0.12561704218387604],"gyroscope":[-0.0074568502604961395,-0.07137271016836166,0.011717907153069973],"accelerometer":[-0.48572367429733276,0.09606734663248062,9.444228172302246],"rpy":[0.0024111417587846518,0.020213887095451355,0.25193703174591064],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.331186443567276,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015263108536601067,"velocity_rad_s":0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.013003530912101269,"velocity_rad_s":-0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409909129142761,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31703731417655945,"velocity_rad_s":0.009494328871369362,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0039497739635407925,"velocity_rad_s":0.003791912691667676,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33267781138420105,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013686517253518105,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0037631227169185877,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090244650840759,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-13.974609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30000749230384827,"velocity_rad_s":-0.3058601915836334,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00741185899823904,"velocity_rad_s":0.5485313534736633,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02048959955573082,"velocity_rad_s":0.23312611877918243,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016250144690275192,"velocity_rad_s":-0.042362626641988754,"acceleration_raw":0.0,"estimated_torque_nm":-1.6764031648635864,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.012689336203038692,"velocity_rad_s":-0.16273774206638336,"acceleration_raw":0.0,"estimated_torque_nm":0.3044230043888092,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2702442705631256,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21469739079475403,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004757737275213003,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9728674292564392,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019306587055325508,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006819024216383696,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2597940266132355,"velocity_rad_s":-0.3804272413253784,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17852900922298431,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036911413073539734,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8568121790885925,"velocity_rad_s":-0.21629129350185394,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020433103665709496,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.8062499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013925669714808464,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788134828896,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810213,"imu":{"quaternion":[0.9920267462730408,-7.372990512521937e-05,0.010140824131667614,0.12561960518360138],"gyroscope":[-0.009587379172444344,-0.06604638695716858,0.004261057358235121],"accelerometer":[-0.4471171796321869,0.10145429521799088,9.866206169128418],"rpy":[0.0024019775446504354,0.020139822736382484,0.2519419491291046],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.331186443567276,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015203453600406647,"velocity_rad_s":0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012976747006177902,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640999436378479,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170332610607147,"velocity_rad_s":0.006808764301240444,"acceleration_raw":0.0,"estimated_torque_nm":3.3773725032806396,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003942554816603661,"velocity_rad_s":-0.00830166507512331,"acceleration_raw":0.0,"estimated_torque_nm":-1.098814606666565,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3326607644557953,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013669473119080067,"velocity_rad_s":-0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090074181556702,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-14.0625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30041348934173584,"velocity_rad_s":-0.29141438007354736,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00814666599035263,"velocity_rad_s":0.5252367258071899,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02035568095743656,"velocity_rad_s":0.2022712081670761,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01621248945593834,"velocity_rad_s":-0.03846303001046181,"acceleration_raw":0.0,"estimated_torque_nm":-1.6764003038406372,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01281055435538292,"velocity_rad_s":-0.16756223142147064,"acceleration_raw":0.0,"estimated_torque_nm":0.30470535159111023,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2702442705631256,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2146015167236328,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004781705792993307,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9728314876556396,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14583604037761688,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01918674446642399,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.006819024216383696,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2595064043998718,"velocity_rad_s":-0.3911651074886322,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17855297029018402,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03688744455575943,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8564885854721069,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020445087924599648,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013937653973698616,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788139555520,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810214,"imu":{"quaternion":[0.9920272827148438,-7.857324089854956e-05,0.010064305737614632,0.12562164664268494],"gyroscope":[-0.01810949295759201,-0.06924217939376831,0.0031957929022610188],"accelerometer":[-0.4489128291606903,0.11043255031108856,9.717166900634766],"rpy":[0.002373171504586935,0.01998920366168022,0.2519454061985016],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3311779201030731,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015143798664212227,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012949963100254536,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6410079598426819,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170291781425476,"velocity_rad_s":0.009396924637258053,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003935335669666529,"velocity_rad_s":-0.0184949841350317,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3326607644557953,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013652428984642029,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0037631227169185877,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090074181556702,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-14.0625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3006017208099365,"velocity_rad_s":-0.2758738696575165,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.008474129252135754,"velocity_rad_s":0.496371328830719,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.02018158696591854,"velocity_rad_s":0.215984508395195,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016182368621230125,"velocity_rad_s":-0.036527369171381,"acceleration_raw":0.0,"estimated_torque_nm":-1.6764003038406372,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01290744449943304,"velocity_rad_s":-0.1650935262441635,"acceleration_raw":0.0,"estimated_torque_nm":0.30470535159111023,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2702442705631256,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21451763808727264,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004757737275213003,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9728314876556396,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018994996324181557,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068429927341639996,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.25923076272010803,"velocity_rad_s":-0.3911651074886322,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17857694625854492,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03687546029686928,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8563088178634644,"velocity_rad_s":-0.2346990704536438,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020421119406819344,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788141701024,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810215,"imu":{"quaternion":[0.9920272827148438,-7.857324089854956e-05,0.010064305737614632,0.12562164664268494],"gyroscope":[-0.01810949295759201,-0.06924217939376831,0.0031957929022610188],"accelerometer":[-0.4489128291606903,0.11043255031108856,9.717166900634766],"rpy":[0.002373171504586935,0.01998920366168022,0.2519454061985016],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3311523497104645,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015092666260898113,"velocity_rad_s":0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012923179194331169,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409823894500732,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170333206653595,"velocity_rad_s":0.006229442544281483,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0039280494675040245,"velocity_rad_s":-0.02037803642451763,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33263522386550903,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013635384850203991,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0037631227169185877,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090244650840759,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-14.150390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30075231194496155,"velocity_rad_s":-0.25920310616493225,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.008736085146665573,"velocity_rad_s":0.4563734829425812,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.019873572513461113,"velocity_rad_s":0.21427033841609955,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.016175106167793274,"velocity_rad_s":-0.054985981434583664,"acceleration_raw":0.0,"estimated_torque_nm":-1.6764003038406372,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013058019801974297,"velocity_rad_s":-0.15557798743247986,"acceleration_raw":0.0,"estimated_torque_nm":0.30470535159111023,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27025625109672546,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21442176401615143,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004769721534103155,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9727835059165955,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01889912411570549,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068549769930541515,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.25867950916290283,"velocity_rad_s":-0.38656318187713623,"acceleration_raw":0.0,"estimated_torque_nm":-2.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17862488329410553,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036851491779088974,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8560811281204224,"velocity_rad_s":-0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":-2.375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020385166630148888,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01396162249147892,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788143458304,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810216,"imu":{"quaternion":[0.992027223110199,-8.373381569981575e-05,0.010028129443526268,0.12562431395053864],"gyroscope":[-0.020240021869540215,-0.06391585618257523,0.004261057358235121],"accelerometer":[-0.3977367579936981,0.21009120345115662,9.96137523651123],"rpy":[0.002353890333324671,0.019918709993362427,0.25195038318634033],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3311523497104645,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014990401454269886,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012869611382484436,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409909129142761,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170209228992462,"velocity_rad_s":0.009927543811500072,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003935421351343393,"velocity_rad_s":-0.017562061548233032,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3326522409915924,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013584252446889877,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0037631227169185877,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090329885482788,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-14.23828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.300890177488327,"velocity_rad_s":-0.2388196438550949,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.008947258815169334,"velocity_rad_s":0.4154174029827118,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.019686086103320122,"velocity_rad_s":0.2296978086233139,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.015993526205420494,"velocity_rad_s":-0.07249924540519714,"acceleration_raw":0.0,"estimated_torque_nm":-1.6263620853424072,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013260585255920887,"velocity_rad_s":-0.16951701045036316,"acceleration_raw":0.0,"estimated_torque_nm":0.38167303800582886,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2702442705631256,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21424199640750885,"velocity_rad_s":-0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004769721534103155,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9727595448493958,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018827218562364578,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068669612519443035,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2583918869495392,"velocity_rad_s":-0.3804272413253784,"acceleration_raw":0.0,"estimated_torque_nm":-2.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03682752326130867,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8558773994445801,"velocity_rad_s":-0.25617480278015137,"acceleration_raw":0.0,"estimated_torque_nm":-2.3125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020361198112368584,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788145953184,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810217,"imu":{"quaternion":[0.9920274615287781,-9.066599886864424e-05,0.009994030930101871,0.12562544643878937],"gyroscope":[-0.023435814306139946,-0.059654802083969116,0.0010652643395587802],"accelerometer":[-0.3977367579936981,0.21009120345115662,9.96137523651123],"rpy":[0.0023315842263400555,0.019852790981531143,0.25195229053497314],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3311438262462616,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014939268119633198,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012816044501960278,"velocity_rad_s":-0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640999436378479,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31701692938804626,"velocity_rad_s":0.00149445328861475,"acceleration_raw":0.0,"estimated_torque_nm":3.3773725032806396,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00391367869451642,"velocity_rad_s":-0.019488129764795303,"acceleration_raw":0.0,"estimated_torque_nm":-1.098814606666565,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33262670040130615,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013601296581327915,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090500354766846,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-14.23828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30101150274276733,"velocity_rad_s":-0.22061365842819214,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009158293716609478,"velocity_rad_s":0.3837487995624542,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01952538453042507,"velocity_rad_s":0.23998278379440308,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.015933066606521606,"velocity_rad_s":-0.0695883184671402,"acceleration_raw":0.0,"estimated_torque_nm":-1.5763030052185059,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013376918621361256,"velocity_rad_s":-0.16891922056674957,"acceleration_raw":0.0,"estimated_torque_nm":0.4586729407310486,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27025625109672546,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21417008340358734,"velocity_rad_s":-0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004781705792993307,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.972735583782196,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018731344491243362,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068549769930541515,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2580922842025757,"velocity_rad_s":-0.3880971670150757,"acceleration_raw":0.0,"estimated_torque_nm":-2.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17874471843242645,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036803554743528366,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8554579615592957,"velocity_rad_s":-0.2791845202445984,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02033722959458828,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788147574976,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810218,"imu":{"quaternion":[0.992027997970581,-9.633414447307587e-05,0.009956397116184235,0.12562444806098938],"gyroscope":[-0.02237055078148842,-0.06711164861917496,-0.0031957929022610188],"accelerometer":[-0.320523738861084,0.4067150056362152,10.095151901245117],"rpy":[0.002310855081304908,0.019779542461037636,0.25194990634918213],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33111828565597534,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01492222398519516,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012789260596036911,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640999436378479,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31700876355171204,"velocity_rad_s":0.00838438794016838,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003899222705513239,"velocity_rad_s":-0.009217380546033382,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33262670040130615,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013601296581327915,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090585589408875,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-14.23828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30117037892341614,"velocity_rad_s":-0.16759026050567627,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009420319460332394,"velocity_rad_s":0.28968340158462524,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.019351288676261902,"velocity_rad_s":0.23312611877918243,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.015849899500608444,"velocity_rad_s":-0.0724881961941719,"acceleration_raw":0.0,"estimated_torque_nm":-1.5763030052185059,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013517399318516254,"velocity_rad_s":-0.1757497638463974,"acceleration_raw":0.0,"estimated_torque_nm":0.4586729407310486,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27028024196624756,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21412214636802673,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004781705792993307,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9727236032485962,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018623486161231995,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.13750000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068669612519443035,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2578166425228119,"velocity_rad_s":-0.39269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-2.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17876869440078735,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036803554743528366,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8552662134170532,"velocity_rad_s":-0.2730485796928406,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020265324041247368,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788150598048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810219,"imu":{"quaternion":[0.9920283555984497,-9.897199925035238e-05,0.009915373288094997,0.12562444806098938],"gyroscope":[-0.01810949295759201,-0.0745685026049614,-0.0010652643395587802],"accelerometer":[-0.2621650993824005,0.5449801683425903,9.930849075317383],"rpy":[0.002295307582244277,0.01969880238175392,0.2519495487213135],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3311012387275696,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014879613183438778,"velocity_rad_s":0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012762476690113544,"velocity_rad_s":-0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6410079598426819,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170005977153778,"velocity_rad_s":0.014107562601566315,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0038847848773002625,"velocity_rad_s":-0.024956615641713142,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33261817693710327,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013601296581327915,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0037899063900113106,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090585589408875,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-14.150390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3012202978134155,"velocity_rad_s":-0.14134036004543304,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009464176371693611,"velocity_rad_s":0.2421894520521164,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.019029883667826653,"velocity_rad_s":0.215984508395195,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.015797030180692673,"velocity_rad_s":-0.07636871188879013,"acceleration_raw":0.0,"estimated_torque_nm":-1.5763030052185059,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013638668693602085,"velocity_rad_s":-0.17696233093738556,"acceleration_raw":0.0,"estimated_torque_nm":0.4586729407310486,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27030420303344727,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21405024826526642,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004781705792993307,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.972735583782196,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.15000000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068789455108344555,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.25720545649528503,"velocity_rad_s":-0.40343695878982544,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787566989660263,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03676760196685791,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8550505042076111,"velocity_rad_s":-0.2853204309940338,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.02021738886833191,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788152650432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810220,"imu":{"quaternion":[0.9920283555984497,-9.796653466764838e-05,0.009874314069747925,0.12562806904315948],"gyroscope":[-0.011717907153069973,-0.07563376426696777,0.0063915858045220375],"accelerometer":[-0.3250128924846649,0.5000888705253601,9.853636741638184],"rpy":[0.002287052571773529,0.019617071375250816,0.251956582069397],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33106714487075806,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01483700331300497,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012735692784190178,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640999436378479,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3169881999492645,"velocity_rad_s":0.01466253213584423,"acceleration_raw":0.0,"estimated_torque_nm":3.4688353538513184,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003892156295478344,"velocity_rad_s":-0.01845196634531021,"acceleration_raw":0.0,"estimated_torque_nm":-1.1508359909057617,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3326096534729004,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013626862317323685,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003803298342972994,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6090415120124817,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-14.0625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3012329339981079,"velocity_rad_s":-0.10871229320764542,"acceleration_raw":0.0,"estimated_torque_nm":-0.6297903656959534,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009500514715909958,"velocity_rad_s":0.19093404710292816,"acceleration_raw":0.0,"estimated_torque_nm":0.4613947868347168,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01884239725768566,"velocity_rad_s":0.19541454315185547,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.015706444159150124,"velocity_rad_s":-0.0627836287021637,"acceleration_raw":0.0,"estimated_torque_nm":-1.5262439250946045,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013871600851416588,"velocity_rad_s":-0.17458820343017578,"acceleration_raw":0.0,"estimated_torque_nm":0.5356728434562683,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27030420303344727,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2138824611902237,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004781705792993307,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.972735583782196,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01847967505455017,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.15000000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068669612519443035,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2568938434123993,"velocity_rad_s":-0.41264083981513977,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787806749343872,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03675561770796776,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8548707365989685,"velocity_rad_s":-0.28071850538253784,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020193420350551605,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788154338464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810221,"imu":{"quaternion":[0.9920278191566467,-9.574752766638994e-05,0.009838415309786797,0.12563484907150269],"gyroscope":[-0.008522114716470242,-0.06604638695716858,0.012783171609044075],"accelerometer":[-0.4605845510959625,0.3878606855869293,9.838373184204102],"rpy":[0.0022825649939477444,0.019545266404747963,0.2519700229167938],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3310500979423523,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-3.603515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014828480780124664,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012628557160496712,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640999436378479,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3169923424720764,"velocity_rad_s":0.008882539346814156,"acceleration_raw":0.0,"estimated_torque_nm":2.8302831649780273,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0038848700933158398,"velocity_rad_s":-0.015713423490524292,"acceleration_raw":0.0,"estimated_torque_nm":-0.9931803941726685,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3326096534729004,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013618340715765953,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003816690295934677,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6089648008346558,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-15.46875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3012453317642212,"velocity_rad_s":-0.08141518384218216,"acceleration_raw":0.0,"estimated_torque_nm":-1.2630711793899536,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009493362158536911,"velocity_rad_s":0.14528508484363556,"acceleration_raw":0.0,"estimated_torque_nm":0.5090551972389221,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.018708478659391403,"velocity_rad_s":0.21769867837429047,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01566869020462036,"velocity_rad_s":-0.058914169669151306,"acceleration_raw":0.0,"estimated_torque_nm":-1.5262439250946045,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.013963785953819752,"velocity_rad_s":-0.1671428680419922,"acceleration_raw":0.0,"estimated_torque_nm":0.5356728434562683,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27030420303344727,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21378658711910248,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004793690051883459,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9727475643157959,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01841975376009941,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.15000000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068789455108344555,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2565702795982361,"velocity_rad_s":-0.42031076550483704,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17876869440078735,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036731649190187454,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8544992208480835,"velocity_rad_s":-0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020145483314990997,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.793749988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788157291136,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810222,"imu":{"quaternion":[0.9920269250869751,-9.113539272220805e-05,0.009802449494600296,0.1256447732448578],"gyroscope":[-0.004261057358235121,-0.06711164861917496,0.019174758344888687],"accelerometer":[-0.4605845510959625,0.3878606855869293,9.838373184204102],"rpy":[0.002282870002090931,0.019472720101475716,0.25198987126350403],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33107566833496094,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-3.779296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014819959178566933,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01258838176727295,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409823894500732,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170416057109833,"velocity_rad_s":-0.016849946230649948,"acceleration_raw":0.0,"estimated_torque_nm":2.465276002883911,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003913477063179016,"velocity_rad_s":-0.00013765282346867025,"acceleration_raw":0.0,"estimated_torque_nm":-0.8883419036865234,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33263522386550903,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013609818182885647,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003803298342972994,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6089221835136414,"velocity_rad_s":-0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-15.380859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30131104588508606,"velocity_rad_s":-0.06024704873561859,"acceleration_raw":0.0,"estimated_torque_nm":-1.7161625623703003,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009421505965292454,"velocity_rad_s":0.06446518003940582,"acceleration_raw":0.0,"estimated_torque_nm":0.45444098114967346,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.018520992249250412,"velocity_rad_s":0.23998278379440308,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.015638530254364014,"velocity_rad_s":-0.05115538090467453,"acceleration_raw":0.0,"estimated_torque_nm":-1.5763030052185059,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.014060907065868378,"velocity_rad_s":-0.16347120702266693,"acceleration_raw":0.0,"estimated_torque_nm":0.4586729407310486,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2703401446342468,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21366675198078156,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004817658569663763,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9727595448493958,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018323879688978195,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.15000000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068669612519443035,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2562706768512726,"velocity_rad_s":-0.4218447208404541,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17879265546798706,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036695696413517,"velocity_rad_s":-0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8543194532394409,"velocity_rad_s":-0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020061593502759933,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788157997280,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810223,"imu":{"quaternion":[0.9920253753662109,-8.361437357962132e-05,0.00976425502449274,0.12565988302230835],"gyroscope":[0.0010652643395587802,-0.07243797183036804,0.029827401041984558],"accelerometer":[-0.42018240690231323,0.07811082899570465,9.820416450500488],"rpy":[0.002288487507030368,0.01939500868320465,0.2520202100276947],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33106714487075806,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-3.603515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014785869978368282,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012534813955426216,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409909129142761,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170703649520874,"velocity_rad_s":-0.026319922879338264,"acceleration_raw":0.0,"estimated_torque_nm":2.3746566772460938,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003920494578778744,"velocity_rad_s":0.001642159535549581,"acceleration_raw":0.0,"estimated_torque_nm":-0.9395674467086792,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33267781138420105,"velocity_rad_s":-0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013592774048447609,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0037899063900113106,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6088710427284241,"velocity_rad_s":-0.09162978827953339,"acceleration_raw":0.0,"estimated_torque_nm":-15.380859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30136004090309143,"velocity_rad_s":-0.0636037290096283,"acceleration_raw":0.0,"estimated_torque_nm":-1.7161625623703003,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009320533834397793,"velocity_rad_s":0.009805711917579174,"acceleration_raw":0.0,"estimated_torque_nm":0.45444098114967346,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.018239762634038925,"velocity_rad_s":0.21941281855106354,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.015608333982527256,"velocity_rad_s":-0.047301389276981354,"acceleration_raw":0.0,"estimated_torque_nm":-1.5275906324386597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01413855142891407,"velocity_rad_s":-0.14730001986026764,"acceleration_raw":0.0,"estimated_torque_nm":0.38184812664985657,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2703521251678467,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21355889737606049,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004817658569663763,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9727595448493958,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01828792691230774,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.15000000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068789455108344555,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2555995583534241,"velocity_rad_s":-0.44025251269340515,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17880463600158691,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036695696413517,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8541396856307983,"velocity_rad_s":-0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":-2.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.020001672208309174,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788159917024,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810224,"imu":{"quaternion":[0.9920232892036438,-7.510255818488076e-05,0.009721982292830944,0.12567976117134094],"gyroscope":[0.0021305286791175604,-0.08096008747816086,0.03941477835178375],"accelerometer":[-0.42197805643081665,0.06374561786651611,9.608530044555664],"rpy":[0.0022951357532292604,0.019308943301439285,0.2520601451396942],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3310586214065552,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-3.779296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01471769344061613,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012481247074902058,"velocity_rad_s":-0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6409823894500732,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170785903930664,"velocity_rad_s":-0.026850542053580284,"acceleration_raw":0.0,"estimated_torque_nm":2.283193826675415,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003920445218682289,"velocity_rad_s":0.0007092368905432522,"acceleration_raw":0.0,"estimated_torque_nm":-0.8875461220741272,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33282271027565,"velocity_rad_s":-0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013541641645133495,"velocity_rad_s":-0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0037899063900113106,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6088199019432068,"velocity_rad_s":-0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":-15.380859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.301421582698822,"velocity_rad_s":-0.06654361635446548,"acceleration_raw":0.0,"estimated_torque_nm":-1.7161625623703003,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009241403080523014,"velocity_rad_s":-0.027245957404375076,"acceleration_raw":0.0,"estimated_torque_nm":0.45444098114967346,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.018065666779875755,"velocity_rad_s":0.2296978086233139,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01554801780730486,"velocity_rad_s":-0.03856973722577095,"acceleration_raw":0.0,"estimated_torque_nm":-1.5275872945785522,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01433262787759304,"velocity_rad_s":-0.14160127937793732,"acceleration_raw":0.0,"estimated_torque_nm":0.38223493099212646,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2703761160373688,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21339111030101776,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004841627087444067,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9727715253829956,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01822800748050213,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.15000000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.0068669612519443035,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.25522804260253906,"velocity_rad_s":-0.45712628960609436,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03665974363684654,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8539718985557556,"velocity_rad_s":-0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":-2.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.019953735172748566,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.78125,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788161856480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810249,"imu":{"quaternion":[0.9919320344924927,5.3289935749489814e-05,0.008711916394531727,0.12647169828414917],"gyroscope":[-0.01810949295759201,-0.07030744105577469,0.11504854261875153],"accelerometer":[-0.06733692437410355,-0.02603694424033165,9.638157844543457],"rpy":[0.0023096876684576273,0.017270635813474655,0.2536522448062897],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3309563398361206,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-4.306640625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013950702734291553,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011289368383586407,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6406500339508057,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31712839007377625,"velocity_rad_s":-0.00588551489636302,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003818451426923275,"velocity_rad_s":-0.021405594423413277,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3344759941101074,"velocity_rad_s":-0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012740562669932842,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.003026568330824375,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6076949834823608,"velocity_rad_s":-0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-16.611328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30413275957107544,"velocity_rad_s":-0.03702900931239128,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005126627162098885,"velocity_rad_s":-0.012703938409686089,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013499030843377113,"velocity_rad_s":0.17655876278877258,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013581421226263046,"velocity_rad_s":-0.08137232810258865,"acceleration_raw":0.0,"estimated_torque_nm":-1.2288451194763184,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01765764318406582,"velocity_rad_s":-0.14558234810829163,"acceleration_raw":0.0,"estimated_torque_nm":0.6888308525085449,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2714187204837799,"velocity_rad_s":0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2108624428510666,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9733947515487671,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018443722277879715,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007166566792875528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.24347151815891266,"velocity_rad_s":-0.5230874419212341,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17897242307662964,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8498014211654663,"velocity_rad_s":-0.18867965042591095,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.017017599195241928,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.7124999761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788164092736,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810250,"imu":{"quaternion":[0.9919243454933167,4.7503279347438365e-05,0.00866951234638691,0.12653514742851257],"gyroscope":[-0.026631608605384827,-0.07243797183036804,0.12676645815372467],"accelerometer":[-0.1256955862045288,0.006284779403358698,9.398438453674316],"rpy":[0.0022885750513523817,0.017187824472784996,0.2537798285484314],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3309563398361206,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013950702734291553,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011275975964963436,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6406329870223999,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-12.744140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31712839007377625,"velocity_rad_s":-0.0037630375009030104,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003818451426923275,"velocity_rad_s":-0.017673904076218605,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3345356285572052,"velocity_rad_s":-0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012732040137052536,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.002986392704769969,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6076183319091797,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-16.5234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3041207194328308,"velocity_rad_s":-0.019747549667954445,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005191741045564413,"velocity_rad_s":0.02333373948931694,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01327136904001236,"velocity_rad_s":0.19027206301689148,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01353604719042778,"velocity_rad_s":-0.08913473039865494,"acceleration_raw":0.0,"estimated_torque_nm":-1.27877676486969,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.017764680087566376,"velocity_rad_s":-0.1505224108695984,"acceleration_raw":0.0,"estimated_torque_nm":0.6120297312736511,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27147865295410156,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21077854931354523,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005093295592814684,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734306931495667,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018455706536769867,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.24307604134082794,"velocity_rad_s":-0.5276893973350525,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17896044254302979,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03637212514877319,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8496695756912231,"velocity_rad_s":-0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016813868656754494,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-0.699999988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014093449339270592,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788166689408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810251,"imu":{"quaternion":[0.9919163584709167,3.831495996564627e-05,0.00862350407987833,0.1266002357006073],"gyroscope":[-0.034088458865880966,-0.0788295567035675,0.1299622505903244],"accelerometer":[-0.1256955862045288,0.006284779403358698,9.398438453674316],"rpy":[0.0022598179057240486,0.017098721116781235,0.2539105713367462],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3309563398361206,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013933658599853516,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011222408153116703,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6406159400939941,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31712010502815247,"velocity_rad_s":-2.435106762277428e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0038330238312482834,"velocity_rad_s":-0.0055717239156365395,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33461233973503113,"velocity_rad_s":-0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012732040137052536,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0029730007518082857,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6075586676597595,"velocity_rad_s":-0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":-16.5234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3041084110736847,"velocity_rad_s":-0.0059982407838106155,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0052133770659565926,"velocity_rad_s":0.028794288635253906,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013164233416318893,"velocity_rad_s":0.19198623299598694,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013559023849666119,"velocity_rad_s":-0.08328989893198013,"acceleration_raw":0.0,"estimated_torque_nm":-1.2776329517364502,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.017916155979037285,"velocity_rad_s":-0.1630607396364212,"acceleration_raw":0.0,"estimated_torque_nm":0.7654920220375061,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27158650755882263,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21069467067718506,"velocity_rad_s":-0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734426736831665,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01846769079566002,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.24240492284297943,"velocity_rad_s":-0.5138835906982422,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17896044254302979,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8495737314224243,"velocity_rad_s":-0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01672997884452343,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.699999988079071,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014093449339270592,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788167330880,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810251,"imu":{"quaternion":[0.9919083714485168,2.6846068067243323e-05,0.00858162809163332,0.1266653686761856],"gyroscope":[-0.0372842513024807,-0.07030744105577469,0.1299622505903244],"accelerometer":[-0.19931729137897491,-0.014365210197865963,9.702801704406738],"rpy":[0.0022275724913924932,0.017018398270010948,0.2540414035320282],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33098191022872925,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013908091932535172,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011195625178515911,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6405988931655884,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31711602210998535,"velocity_rad_s":0.004702521022409201,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003825804917141795,"velocity_rad_s":-0.008318872191011906,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33465495705604553,"velocity_rad_s":-0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01269795186817646,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00287925754673779,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6074819564819336,"velocity_rad_s":-0.11562806367874146,"acceleration_raw":0.0,"estimated_torque_nm":-16.5234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30410441756248474,"velocity_rad_s":-0.003331697080284357,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005235111806541681,"velocity_rad_s":0.025991998612880707,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.013057098723948002,"velocity_rad_s":0.17484459280967712,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013422686606645584,"velocity_rad_s":-0.07261128723621368,"acceleration_raw":0.0,"estimated_torque_nm":-1.2776329517364502,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01808108575642109,"velocity_rad_s":-0.16001664102077484,"acceleration_raw":0.0,"estimated_torque_nm":0.7654920220375061,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27165842056274414,"velocity_rad_s":0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21052688360214233,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734306931495667,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01847967505455017,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007154582533985376,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.24205738306045532,"velocity_rad_s":-0.48166999220848083,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8494658470153809,"velocity_rad_s":-0.18100973963737488,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016658073291182518,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.7124999761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788169447168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810252,"imu":{"quaternion":[0.9919083714485168,2.6846068067243323e-05,0.00858162809163332,0.1266653686761856],"gyroscope":[-0.0372842513024807,-0.07030744105577469,0.1299622505903244],"accelerometer":[-0.19931729137897491,-0.014365210197865963,9.702801704406738],"rpy":[0.0022275724913924932,0.017018398270010948,0.2540414035320282],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33098191022872925,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01389957033097744,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011155448853969574,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6405733227729797,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-12.744140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31711187958717346,"velocity_rad_s":0.0047106374986469746,"acceleration_raw":0.0,"estimated_torque_nm":1.1881717443466187,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0038330911193042994,"velocity_rad_s":-0.00646163010969758,"acceleration_raw":0.0,"estimated_torque_nm":-0.5730306506156921,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33468905091285706,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01269795186817646,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0027989062946289778,"velocity_rad_s":-0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6073370575904846,"velocity_rad_s":-0.12108222395181656,"acceleration_raw":0.0,"estimated_torque_nm":-16.5234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3040753901004791,"velocity_rad_s":0.0073236688040196896,"acceleration_raw":0.0,"estimated_torque_nm":-2.7085063457489014,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00522763142362237,"velocity_rad_s":0.01663769781589508,"acceleration_raw":0.0,"estimated_torque_nm":0.604475200176239,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012949963100254536,"velocity_rad_s":0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013407650403678417,"velocity_rad_s":-0.05804793909192085,"acceleration_raw":0.0,"estimated_torque_nm":-1.2776329517364502,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.018178587779402733,"velocity_rad_s":-0.15700148046016693,"acceleration_raw":0.0,"estimated_torque_nm":0.7654920220375061,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2717423141002655,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21043100953102112,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734426736831665,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01847967505455017,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007166566792875528,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.24172182381153107,"velocity_rad_s":-0.4724661111831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03636014088988304,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8492141962051392,"velocity_rad_s":-0.18100973963737488,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016574183478951454,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.7124999761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788171101440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810253,"imu":{"quaternion":[0.9918918013572693,9.40042082220316e-06,0.008509546518325806,0.1268003135919571],"gyroscope":[-0.02876213565468788,-0.056459009647369385,0.1395496279001236],"accelerometer":[-0.17238251864910126,0.08708908408880234,9.889549255371094],"rpy":[0.0021769865415990353,0.01687951572239399,0.25431281328201294],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33098191022872925,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013856959529221058,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011115273460745811,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6405477523803711,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-12.744140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.317111998796463,"velocity_rad_s":0.0010125364642590284,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003804080653935671,"velocity_rad_s":-0.009277603588998318,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33474868535995483,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01269795186817646,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.002758730435743928,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6072773933410645,"velocity_rad_s":-0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-16.5234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3040753901004791,"velocity_rad_s":0.003115557599812746,"acceleration_raw":0.0,"estimated_torque_nm":-2.7085063457489014,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00522763142362237,"velocity_rad_s":0.011105135083198547,"acceleration_raw":0.0,"estimated_torque_nm":0.604475200176239,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012735692784190178,"velocity_rad_s":0.19541454315185547,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013354670256376266,"velocity_rad_s":-0.06970570236444473,"acceleration_raw":0.0,"estimated_torque_nm":-1.326420783996582,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.018270928412675858,"velocity_rad_s":-0.15441565215587616,"acceleration_raw":0.0,"estimated_torque_nm":0.8421531915664673,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.271814227104187,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2103591114282608,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734426736831665,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018515627831220627,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007166566792875528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2413862645626068,"velocity_rad_s":-0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03633617237210274,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8490583896636963,"velocity_rad_s":-0.19481556117534637,"acceleration_raw":0.0,"estimated_torque_nm":-2.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01647830940783024,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788173526720,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810254,"imu":{"quaternion":[0.9918829202651978,1.8192222341895103e-06,0.008472029119729996,0.126872256398201],"gyroscope":[-0.02876213565468788,-0.06285059452056885,0.1438106894493103],"accelerometer":[-0.07631517946720123,0.1777694821357727,9.831191062927246],"rpy":[0.0021536455024033785,0.01680685207247734,0.2544575035572052],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33099043369293213,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01383991539478302,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011115273460745811,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6405221819877625,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-12.744140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3171079158782959,"velocity_rad_s":-0.003746803617104888,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003796861506998539,"velocity_rad_s":-0.013959422707557678,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3348168730735779,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01269795186817646,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0027051628567278385,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6071922183036804,"velocity_rad_s":-0.1178097352385521,"acceleration_raw":0.0,"estimated_torque_nm":-16.5234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3040670156478882,"velocity_rad_s":0.0015739891678094864,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005213082302361727,"velocity_rad_s":0.0027702823281288147,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012655341066420078,"velocity_rad_s":0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013362444937229156,"velocity_rad_s":-0.05998854339122772,"acceleration_raw":0.0,"estimated_torque_nm":-1.2776329517364502,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.018402768298983574,"velocity_rad_s":-0.15823648869991302,"acceleration_raw":0.0,"estimated_torque_nm":0.7654920220375061,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27195802330970764,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21027521789073944,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734666347503662,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018503643572330475,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.24063125252723694,"velocity_rad_s":-0.49087387323379517,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17896044254302979,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036324188113212585,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8489025831222534,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01641838811337948,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788148727776,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":37376,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":28416,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":24832,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":24832,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":38912,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0}],"touch_metric":0.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":788175232448,"stream":"brainco.motor","data":{"currents":[8,-100,17,3,-15,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [8, -100, 17, 3, -15, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":788175719264,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":0.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.0}} +{"timestamp_monotonic_ns":788175936704,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810255,"imu":{"quaternion":[0.9918829202651978,1.8192222341895103e-06,0.008472029119729996,0.126872256398201],"gyroscope":[-0.02876213565468788,-0.06285059452056885,0.1438106894493103],"accelerometer":[-0.07631517946720123,0.1777694821357727,9.831191062927246],"rpy":[0.0021536455024033785,0.01680685207247734,0.2544575035572052],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33098191022872925,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013805827125906944,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011075098067522049,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6405051350593567,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3171079158782959,"velocity_rad_s":-0.003722452325746417,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003796861506998539,"velocity_rad_s":-0.008387697860598564,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3348509669303894,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01269795186817646,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0025980276986956596,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6071325540542603,"velocity_rad_s":-0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-16.5234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3040793240070343,"velocity_rad_s":4.3227973947068676e-05,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005191446281969547,"velocity_rad_s":-0.0074194264598190784,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012548206374049187,"velocity_rad_s":0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013241244480013847,"velocity_rad_s":-0.061940159648656845,"acceleration_raw":0.0,"estimated_torque_nm":-1.277626633644104,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.018538398668169975,"velocity_rad_s":-0.1480541229248047,"acceleration_raw":0.0,"estimated_torque_nm":0.7663360834121704,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.272041916847229,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.21014338731765747,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734786152839661,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018515627831220627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.24025975167751312,"velocity_rad_s":-0.5016117095947266,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03636014088988304,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8487587571144104,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01637045107781887,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014093449339270592,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788177566592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810256,"imu":{"quaternion":[0.9918738603591919,-1.035933291859692e-05,0.008433354087173939,0.12694533169269562],"gyroscope":[-0.038349516689777374,-0.06391585618257523,0.14594121277332306],"accelerometer":[-0.07631517946720123,0.1777694821357727,9.831191062927246],"rpy":[0.0021208978723734617,0.01673305779695511,0.25460442900657654],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33098191022872925,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013797304593026638,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011061705648899078,"velocity_rad_s":-0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6404710412025452,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.317103773355484,"velocity_rad_s":-0.001061238581314683,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003804147709161043,"velocity_rad_s":-0.0018658447079360485,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3348935842514038,"velocity_rad_s":-0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012714996002614498,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.002531068166717887,"velocity_rad_s":-0.09770727157592773,"acceleration_raw":0.0,"estimated_torque_nm":-0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6070132255554199,"velocity_rad_s":-0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-16.611328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3040793240070343,"velocity_rad_s":0.003234434174373746,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005191446281969547,"velocity_rad_s":-0.009298288263380527,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01244107075035572,"velocity_rad_s":0.1799870729446411,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013195833191275597,"velocity_rad_s":-0.0629231259226799,"acceleration_raw":0.0,"estimated_torque_nm":-1.277626633644104,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01861606165766716,"velocity_rad_s":-0.13993458449840546,"acceleration_raw":0.0,"estimated_torque_nm":0.7663360834121704,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27210181951522827,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2100594937801361,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734666347503662,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007166566792875528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.239912211894989,"velocity_rad_s":-0.49854376912117004,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17896044254302979,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8484711647033691,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016322514042258263,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788179872192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810257,"imu":{"quaternion":[0.9918555617332458,-3.677827407955192e-05,0.008355624042451382,0.12709365785121918],"gyroscope":[-0.041545309126377106,-0.06285059452056885,0.1491370052099228],"accelerometer":[-0.006284779403358698,0.32680854201316833,10.041281700134277],"rpy":[0.0020512195769697428,0.016585253179073334,0.25490260124206543],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33098191022872925,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013788782991468906,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011021530255675316,"velocity_rad_s":-0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640479564666748,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3170996904373169,"velocity_rad_s":0.0025962775107473135,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003796928795054555,"velocity_rad_s":-0.008336078375577927,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33491912484169006,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012714996002614498,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0024507169146090746,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":-0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6069535613059998,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-16.611328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3040876090526581,"velocity_rad_s":0.0005786980618722737,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005191490985453129,"velocity_rad_s":-0.00835085567086935,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01225358434021473,"velocity_rad_s":0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01316559687256813,"velocity_rad_s":-0.054192423820495605,"acceleration_raw":0.0,"estimated_torque_nm":-1.277626633644104,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.018693840131163597,"velocity_rad_s":-0.13313548266887665,"acceleration_raw":0.0,"estimated_torque_nm":0.7663360834121704,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2721617519855499,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2099875956773758,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9734666347503662,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.239540696144104,"velocity_rad_s":-0.5000777840614319,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03636014088988304,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8483033776283264,"velocity_rad_s":-0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":-2.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016214657574892044,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788183087264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810258,"imu":{"quaternion":[0.9918457865715027,-5.1663839258253574e-05,0.00831851176917553,0.12717263400554657],"gyroscope":[-0.04474110156297684,-0.059654802083969116,0.157659113407135],"accelerometer":[0.021547814831137657,0.38965633511543274,9.897629737854004],"rpy":[0.0020135645754635334,0.016515253111720085,0.25506141781806946],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3310074806213379,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013763216324150562,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011021530255675316,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6404625177383423,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3171079158782959,"velocity_rad_s":-0.0005630874657072127,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003796861506998539,"velocity_rad_s":-0.008361888118088245,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33497026562690735,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012723518535494804,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.002383757382631302,"velocity_rad_s":-0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":-0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068854331970215,"velocity_rad_s":-0.10144726186990738,"acceleration_raw":0.0,"estimated_torque_nm":-16.5234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30407923460006714,"velocity_rad_s":0.004830037709325552,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005176941864192486,"velocity_rad_s":-0.010237718932330608,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012146449647843838,"velocity_rad_s":0.16113129258155823,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01317334733903408,"velocity_rad_s":-0.04448600485920906,"acceleration_raw":0.0,"estimated_torque_nm":-1.277626633644104,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.01880602538585663,"velocity_rad_s":-0.12946373224258423,"acceleration_raw":0.0,"estimated_torque_nm":0.7663360834121704,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27235350012779236,"velocity_rad_s":0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20992767810821533,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":1.5625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9735025763511658,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.17499999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23885759711265564,"velocity_rad_s":-0.49087387323379517,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8481595516204834,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016178704798221588,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788183725504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810259,"imu":{"quaternion":[0.9918457865715027,-5.1663839258253574e-05,0.00831851176917553,0.12717263400554657],"gyroscope":[-0.04474110156297684,-0.059654802083969116,0.157659113407135],"accelerometer":[0.021547814831137657,0.38965633511543274,9.897629737854004],"rpy":[0.0020135645754635334,0.016515253111720085,0.25506141781806946],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33099043369293213,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01375469472259283,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01099474634975195,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6404284238815308,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3171079754829407,"velocity_rad_s":-0.0016324430471286178,"acceleration_raw":0.0,"estimated_torque_nm":1.2796344757080078,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0037823563907295465,"velocity_rad_s":-0.012084973976016045,"acceleration_raw":0.0,"estimated_torque_nm":-0.6250519752502441,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33501288294792175,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012723518535494804,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.002236446598544717,"velocity_rad_s":-0.12513387203216553,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6068428158760071,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-16.611328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30408334732055664,"velocity_rad_s":0.0016820590244606137,"acceleration_raw":0.0,"estimated_torque_nm":-2.7993361949920654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0051697297021746635,"velocity_rad_s":-0.015778284519910812,"acceleration_raw":0.0,"estimated_torque_nm":0.5522580146789551,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.012052706442773342,"velocity_rad_s":0.16113129258155823,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013029392808675766,"velocity_rad_s":-0.049339212477207184,"acceleration_raw":0.0,"estimated_torque_nm":-1.277626633644104,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0189463309943676,"velocity_rad_s":-0.13129960000514984,"acceleration_raw":0.0,"estimated_torque_nm":0.7663360834121704,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2724613547325134,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20977187156677246,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9735025763511658,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.17499999701976776,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007166566792875528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23851005733013153,"velocity_rad_s":-0.4939418435096741,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.848027765750885,"velocity_rad_s":-0.1871456652879715,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016142752021551132,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788185678592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810260,"imu":{"quaternion":[0.9918354153633118,-6.496289279311895e-05,0.008279399015009403,0.12725576758384705],"gyroscope":[-0.042610570788383484,-0.06391585618257523,0.16618123650550842],"accelerometer":[-0.043095629662275314,0.3510498106479645,9.913790702819824],"rpy":[0.0019786059856414795,0.016440877690911293,0.25522860884666443],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.330998957157135,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-4.39453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013763216324150562,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010954570956528187,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6404029130935669,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3171122074127197,"velocity_rad_s":-0.002726149745285511,"acceleration_raw":0.0,"estimated_torque_nm":0.5513066649436951,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0037605648394674063,"velocity_rad_s":-0.021379785612225533,"acceleration_raw":0.0,"estimated_torque_nm":-0.6218688488006592,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3350469768047333,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012732040137052536,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.002169487066566944,"velocity_rad_s":-0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6066638231277466,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-18.193359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30411672592163086,"velocity_rad_s":-0.013300295919179916,"acceleration_raw":0.0,"estimated_torque_nm":-3.8830506801605225,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005213457625359297,"velocity_rad_s":0.008446875959634781,"acceleration_raw":0.0,"estimated_torque_nm":0.7526958584785461,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011972354725003242,"velocity_rad_s":0.14570382237434387,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.013006765395402908,"velocity_rad_s":-0.05127977952361107,"acceleration_raw":0.0,"estimated_torque_nm":-1.2787717580795288,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.019038788974285126,"velocity_rad_s":-0.13253317773342133,"acceleration_raw":0.0,"estimated_torque_nm":0.6126960515975952,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27248531579971313,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20967599749565125,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9735145568847656,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018515627831220627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23817449808120728,"velocity_rad_s":-0.4862719178199768,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8477281332015991,"velocity_rad_s":-0.200951486825943,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016106799244880676,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788188200864,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810261,"imu":{"quaternion":[0.9918130040168762,-7.97252869233489e-05,0.008193954825401306,0.1274355947971344],"gyroscope":[-0.027696872130036354,-0.07776429504156113,0.1853559911251068],"accelerometer":[-0.04758475720882416,0.3447650372982025,9.96676254272461],"rpy":[0.001930514699779451,0.01627478003501892,0.2555904686450958],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.330998957157135,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-4.39453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013737649656832218,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01092778705060482,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6403688192367554,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3171819746494293,"velocity_rad_s":-0.028434284031391144,"acceleration_raw":0.0,"estimated_torque_nm":0.27691850066185,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0037962566129863262,"velocity_rad_s":-0.00023228913778439164,"acceleration_raw":0.0,"estimated_torque_nm":-0.4658048152923584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33510661125183105,"velocity_rad_s":-0.07417649775743484,"acceleration_raw":0.0,"estimated_torque_nm":-3.1640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012723518535494804,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0021159194875508547,"velocity_rad_s":-0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.606561541557312,"velocity_rad_s":-0.14289884269237518,"acceleration_raw":0.0,"estimated_torque_nm":-18.017578125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3042074739933014,"velocity_rad_s":-0.040798913687467575,"acceleration_raw":0.0,"estimated_torque_nm":-4.1555399894714355,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0051561626605689526,"velocity_rad_s":-0.0024742218665778637,"acceleration_raw":0.0,"estimated_torque_nm":0.5960443019866943,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.01177147589623928,"velocity_rad_s":0.15256047248840332,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012968949042260647,"velocity_rad_s":-0.049335598945617676,"acceleration_raw":0.0,"estimated_torque_nm":-1.2787717580795288,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.019121384248137474,"velocity_rad_s":-0.13379569351673126,"acceleration_raw":0.0,"estimated_torque_nm":0.6126960515975952,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2725692093372345,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20960409939289093,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9735265374183655,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018515627831220627,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007166566792875528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23785091936588287,"velocity_rad_s":-0.4724661111831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17893646657466888,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03636014088988304,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8475723266601562,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-1.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.016034893691539764,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788190763904,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810262,"imu":{"quaternion":[0.9918130040168762,-7.97252869233489e-05,0.008193954825401306,0.1274355947971344],"gyroscope":[-0.027696872130036354,-0.07776429504156113,0.1853559911251068],"accelerometer":[-0.04758475720882416,0.3447650372982025,9.96676254272461],"rpy":[0.001930514699779451,0.01627478003501892,0.2555904686450958],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3310074806213379,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-4.306640625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01372060552239418,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010874219238758087,"velocity_rad_s":-0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6403347253799438,"velocity_rad_s":-0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-13.095703125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31722718477249146,"velocity_rad_s":-0.04320233687758446,"acceleration_raw":0.0,"estimated_torque_nm":0.27691850066185,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003803139552474022,"velocity_rad_s":-0.005924461875110865,"acceleration_raw":0.0,"estimated_torque_nm":-0.4658048152923584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33529409766197205,"velocity_rad_s":-0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012723518535494804,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0020623519085347652,"velocity_rad_s":-0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6064337491989136,"velocity_rad_s":-0.16035212576389313,"acceleration_raw":0.0,"estimated_torque_nm":-17.841796875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30428603291511536,"velocity_rad_s":-0.06671273708343506,"acceleration_raw":0.0,"estimated_torque_nm":-4.1555399894714355,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005135026760399342,"velocity_rad_s":-0.012479892000555992,"acceleration_raw":0.0,"estimated_torque_nm":0.5960443019866943,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011677732691168785,"velocity_rad_s":0.15941712260246277,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012953984551131725,"velocity_rad_s":-0.060975316911935806,"acceleration_raw":0.0,"estimated_torque_nm":-1.180052399635315,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.019267525523900986,"velocity_rad_s":-0.143693208694458,"acceleration_raw":0.0,"estimated_torque_nm":0.6128394603729248,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27272501587867737,"velocity_rad_s":0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20953220129013062,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9735265374183655,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2371438443660736,"velocity_rad_s":-0.4770680367946625,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8473805785179138,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01601092517375946,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788191396992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810263,"imu":{"quaternion":[0.9918012619018555,-8.699647150933743e-05,0.008145758882164955,0.1275302618741989],"gyroscope":[-0.034088458865880966,-0.08309061825275421,0.18961705267429352],"accelerometer":[0.01975216343998909,0.2801215946674347,9.898528099060059],"rpy":[0.001905345474369824,0.016180843114852905,0.255780965089798],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3310415744781494,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-4.39453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013703561387956142,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010780476033687592,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6403176784515381,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3172931373119354,"velocity_rad_s":-0.053774137049913406,"acceleration_raw":0.0,"estimated_torque_nm":0.27691850066185,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0037735735531896353,"velocity_rad_s":-0.015296700410544872,"acceleration_raw":0.0,"estimated_torque_nm":-0.4658048152923584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33542194962501526,"velocity_rad_s":-0.16035212576389313,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012714996002614498,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.002008784329518676,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6063229441642761,"velocity_rad_s":-0.15817047655582428,"acceleration_raw":0.0,"estimated_torque_nm":-17.9296875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3043854236602783,"velocity_rad_s":-0.08634141087532043,"acceleration_raw":0.0,"estimated_torque_nm":-4.2463698387146,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005135776940733194,"velocity_rad_s":-0.009549576789140701,"acceleration_raw":0.0,"estimated_torque_nm":0.5438271164894104,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011624165810644627,"velocity_rad_s":0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01281763892620802,"velocity_rad_s":-0.06096987798810005,"acceleration_raw":0.0,"estimated_torque_nm":-1.2288395166397095,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.019422512501478195,"velocity_rad_s":-0.14743733406066895,"acceleration_raw":0.0,"estimated_torque_nm":0.6895877718925476,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2728208899497986,"velocity_rad_s":0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20940037071704865,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9735504984855652,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2368202805519104,"velocity_rad_s":-0.4663301706314087,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03636014088988304,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8472008109092712,"velocity_rad_s":-0.22242721915245056,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015974972397089005,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788193691200,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810264,"imu":{"quaternion":[0.9917894601821899,-9.802018757909536e-05,0.008095121942460537,0.12762552499771118],"gyroscope":[-0.042610570788383484,-0.08628641068935394,0.1906823068857193],"accelerometer":[0.2819172441959381,0.44083237648010254,9.756670951843262],"rpy":[0.0018721004016697407,0.016083024442195892,0.25597262382507324],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3310415744781494,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-4.39453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013677995651960373,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010726908221840858,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6402750611305237,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3173508644104004,"velocity_rad_s":-0.07010158151388168,"acceleration_raw":0.0,"estimated_torque_nm":0.27691850066185,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0037440925370901823,"velocity_rad_s":-0.016358669847249985,"acceleration_raw":0.0,"estimated_torque_nm":-0.4658048152923584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33556681871414185,"velocity_rad_s":-0.17562377452850342,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01269795186817646,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0019552167505025864,"velocity_rad_s":-0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6061099171638489,"velocity_rad_s":-0.1647154539823532,"acceleration_raw":0.0,"estimated_torque_nm":-17.841796875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30448463559150696,"velocity_rad_s":-0.09573131054639816,"acceleration_raw":0.0,"estimated_torque_nm":-4.2463698387146,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00510755367577076,"velocity_rad_s":-0.035445552319288254,"acceleration_raw":0.0,"estimated_torque_nm":0.5438271164894104,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011530422605574131,"velocity_rad_s":0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012772255577147007,"velocity_rad_s":-0.06000503525137901,"acceleration_raw":0.0,"estimated_torque_nm":-1.1789072751998901,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.019519677385687828,"velocity_rad_s":-0.14307641983032227,"acceleration_raw":0.0,"estimated_torque_nm":0.7664794921875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27292874455451965,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20931647717952728,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9735984802246094,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.00717855105176568,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23643678426742554,"velocity_rad_s":-0.48166999220848083,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03634815663099289,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8468413352966309,"velocity_rad_s":-0.2346990704536438,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015962988138198853,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.7562500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788195334560,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810265,"imu":{"quaternion":[0.9917776584625244,-0.00011279608588665724,0.008046080358326435,0.12772034108638763],"gyroscope":[-0.05006742104887962,-0.08096008747816086,0.18961705267429352],"accelerometer":[0.5835866928100586,0.4686649739742279,10.009858131408691],"rpy":[0.0018317936919629574,0.015989340841770172,0.2561632990837097],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33102452754974365,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-4.306640625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013677995651960373,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010673340409994125,"velocity_rad_s":-0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.640249490737915,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-13.18359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31747904419898987,"velocity_rad_s":-0.07553765177726746,"acceleration_raw":0.0,"estimated_torque_nm":0.27691850066185,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003590709762647748,"velocity_rad_s":-0.055403757840394974,"acceleration_raw":0.0,"estimated_torque_nm":-0.4658048152923584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33569464087486267,"velocity_rad_s":-0.18216875195503235,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012680907733738422,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0019284329609945416,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6060246825218201,"velocity_rad_s":-0.14617133140563965,"acceleration_raw":0.0,"estimated_torque_nm":-17.9296875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3045709729194641,"velocity_rad_s":-0.08986275643110275,"acceleration_raw":0.0,"estimated_torque_nm":-4.336419105529785,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004999524913728237,"velocity_rad_s":-0.04198156297206879,"acceleration_raw":0.0,"estimated_torque_nm":0.5949904322624207,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011423286981880665,"velocity_rad_s":0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012749576941132545,"velocity_rad_s":-0.05909283459186554,"acceleration_raw":0.0,"estimated_torque_nm":-1.1796513795852661,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.019592786207795143,"velocity_rad_s":-0.13906171917915344,"acceleration_raw":0.0,"estimated_torque_nm":0.7653335928916931,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.273012638092041,"velocity_rad_s":0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20924457907676697,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9735984802246094,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01853959634900093,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007190535310655832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.05000000074505806,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23607724905014038,"velocity_rad_s":-0.4801360070705414,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03637212514877319,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8466375470161438,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015927035361528397,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.7562500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014093449339270592,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788197252128,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810266,"imu":{"quaternion":[0.9917654991149902,-0.00012581876944750547,0.007997768931090832,0.12781724333763123],"gyroscope":[-0.04687162861227989,-0.0788295567035675,0.19387809932231903],"accelerometer":[0.5835866928100586,0.4686649739742279,10.009858131408691],"rpy":[0.0017951675690710545,0.01589665561914444,0.25635820627212524],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33106714487075806,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-4.306640625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013677995651960373,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.010633165016770363,"velocity_rad_s":-0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6402324438095093,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-13.271484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.317541241645813,"velocity_rad_s":-0.07668005675077438,"acceleration_raw":0.0,"estimated_torque_nm":0.27691850066185,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0034813801757991314,"velocity_rad_s":-0.07584201544523239,"acceleration_raw":0.0,"estimated_torque_nm":-0.4658048152923584,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33603551983833313,"velocity_rad_s":-0.19744037091732025,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012680907733738422,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.001901649171486497,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6059309244155884,"velocity_rad_s":-0.13526302576065063,"acceleration_raw":0.0,"estimated_torque_nm":-18.017578125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30461227893829346,"velocity_rad_s":-0.08668235689401627,"acceleration_raw":0.0,"estimated_torque_nm":-4.2463698387146,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004985350649803877,"velocity_rad_s":-0.042005568742752075,"acceleration_raw":0.0,"estimated_torque_nm":0.5438271164894104,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.011275975964963436,"velocity_rad_s":0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012757273390889168,"velocity_rad_s":-0.04842577874660492,"acceleration_raw":0.0,"estimated_torque_nm":-1.1806015968322754,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.019685642793774605,"velocity_rad_s":-0.1234968826174736,"acceleration_raw":0.0,"estimated_torque_nm":0.6119937300682068,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27318042516708374,"velocity_rad_s":0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2091846466064453,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.625,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9736224412918091,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01852761209011078,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007190535310655832,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.23535819351673126,"velocity_rad_s":-0.475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17894844710826874,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03637212514877319,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8464698195457458,"velocity_rad_s":-0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":-1.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015915051102638245,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.7562500238418579,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014093449339270592,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788199155008,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810286,"imu":{"quaternion":[0.991481363773346,-0.00043497805017977953,0.0077846418134868145,0.13001562654972076],"gyroscope":[-0.02876213565468788,0.019174758344888687,0.21731391549110413],"accelerometer":[0.3106476664543152,-0.02693476900458336,9.401132583618164],"rpy":[0.001161845400929451,0.015550389885902405,0.2607865035533905],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33254146575927734,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-3.779296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013303021900355816,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008945786394178867,"velocity_rad_s":-0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6392268538475037,"velocity_rad_s":-0.07963065057992935,"acceleration_raw":0.0,"estimated_torque_nm":-12.744140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31842321157455444,"velocity_rad_s":0.01191713660955429,"acceleration_raw":0.0,"estimated_torque_nm":-0.45309627056121826,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0021611019037663937,"velocity_rad_s":0.07624153047800064,"acceleration_raw":0.0,"estimated_torque_nm":-0.25612783432006836,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3361718952655792,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012416722252964973,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0012186624808236957,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6036896109580994,"velocity_rad_s":-0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30478528141975403,"velocity_rad_s":-0.015793927013874054,"acceleration_raw":0.0,"estimated_torque_nm":-5.059936046600342,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00482725678011775,"velocity_rad_s":-0.018428541719913483,"acceleration_raw":0.0,"estimated_torque_nm":0.5907750129699707,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":0.15427464246749878,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011995325796306133,"velocity_rad_s":-0.0502445288002491,"acceleration_raw":0.0,"estimated_torque_nm":-1.0280128717422485,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.023418491706252098,"velocity_rad_s":-0.24988201260566711,"acceleration_raw":0.0,"estimated_torque_nm":1.301717758178711,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27594876289367676,"velocity_rad_s":0.16720391809940338,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2070874124765396,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9744014143943787,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018875155597925186,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22982148826122284,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17888852953910828,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03640807792544365,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8397107124328613,"velocity_rad_s":-0.37889325618743896,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015327824279665947,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014093449339270592,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788201342688,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810287,"imu":{"quaternion":[0.9914674162864685,-0.00044701347360387444,0.0077887363731861115,0.13012202084064484],"gyroscope":[-0.02876213565468788,0.023435814306139946,0.2130528688430786],"accelerometer":[0.08978256583213806,-0.07900865375995636,9.312247276306152],"rpy":[0.0011407117126509547,0.015561516396701336,0.26100099086761475],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3326522409915924,"velocity_rad_s":-0.12544554471969604,"acceleration_raw":0.0,"estimated_torque_nm":-3.779296875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013234845362603664,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008825259283185005,"velocity_rad_s":-0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6391842365264893,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-12.83203125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3184148371219635,"velocity_rad_s":0.01190090086311102,"acceleration_raw":0.0,"estimated_torque_nm":-0.45309627056121826,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.002190179657191038,"velocity_rad_s":0.07252705097198486,"acceleration_raw":0.0,"estimated_torque_nm":-0.25612783432006836,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3361718952655792,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012433766387403011,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0010981354862451553,"velocity_rad_s":-0.07542315870523453,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6036384701728821,"velocity_rad_s":-0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30478519201278687,"velocity_rad_s":-0.01368446834385395,"acceleration_raw":0.0,"estimated_torque_nm":-5.059936046600342,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004812770057469606,"velocity_rad_s":-0.016589689999818802,"acceleration_raw":0.0,"estimated_torque_nm":0.5907750129699707,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.16627377271652222,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011912022717297077,"velocity_rad_s":-0.013317063450813293,"acceleration_raw":0.0,"estimated_torque_nm":-1.0762397050857544,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.023589063435792923,"velocity_rad_s":-0.22424590587615967,"acceleration_raw":0.0,"estimated_torque_nm":1.2225433588027954,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2760566174983978,"velocity_rad_s":0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2069436013698578,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9744373559951782,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018923090770840645,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007238471880555153,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22967767715454102,"velocity_rad_s":-0.19788353145122528,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03640807792544365,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8394350409507751,"velocity_rad_s":-0.374291330575943,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015291871502995491,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.7124999761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01408146508038044,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788203223616,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810288,"imu":{"quaternion":[0.991454005241394,-0.00045807327842339873,0.007798504084348679,0.13022251427173615],"gyroscope":[-0.024501079693436623,0.034088458865880966,0.20133495330810547],"accelerometer":[-0.12659341096878052,-0.18315643072128296,9.324816703796387],"rpy":[0.0011229010997340083,0.015583650209009647,0.2612035870552063],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.332754522562027,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01318371295928955,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008771691471338272,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6390734314918518,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-12.744140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3183901011943817,"velocity_rad_s":0.017624076455831528,"acceleration_raw":0.0,"estimated_torque_nm":-0.45309627056121826,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.002204886404797435,"velocity_rad_s":0.05678781867027283,"acceleration_raw":0.0,"estimated_torque_nm":-0.25612783432006836,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33616337180137634,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012425243854522705,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0010311759542673826,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034936308860779,"velocity_rad_s":-0.08617563545703888,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30478110909461975,"velocity_rad_s":-0.012121285311877728,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004819982219487429,"velocity_rad_s":-0.01196454931050539,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008771691471338272,"velocity_rad_s":0.1799870729446411,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01195011381059885,"velocity_rad_s":-0.008479977957904339,"acceleration_raw":0.0,"estimated_torque_nm":-1.1261351108551025,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02369215525686741,"velocity_rad_s":-0.20736181735992432,"acceleration_raw":0.0,"estimated_torque_nm":1.1459842920303345,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.276188462972641,"velocity_rad_s":0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20687170326709747,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.974533200263977,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018911106511950493,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007262440398335457,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22952188551425934,"velocity_rad_s":-0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17888852953910828,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.0364200621843338,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8388957381248474,"velocity_rad_s":-0.38656318187713623,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015243934467434883,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014093449339270592,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788204838880,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810289,"imu":{"quaternion":[0.9914408326148987,-0.00046874716645106673,0.007812687195837498,0.13032199442386627],"gyroscope":[-0.02237055078148842,0.042610570788383484,0.1992044299840927],"accelerometer":[-0.05925649031996727,0.010773907415568829,9.278130531311035],"rpy":[0.0011069950414821506,0.015614445321261883,0.2614041566848755],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33285677433013916,"velocity_rad_s":-0.13962635397911072,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013166667893528938,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008718123659491539,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6389967203140259,"velocity_rad_s":-0.1025380939245224,"acceleration_raw":0.0,"estimated_torque_nm":-12.744140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31835711002349854,"velocity_rad_s":0.019110411405563354,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.002219660673290491,"velocity_rad_s":0.03544244542717934,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33615484833717346,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012433766387403011,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0009374326909892261,"velocity_rad_s":-0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6034510135650635,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30478110909461975,"velocity_rad_s":-0.005749679636210203,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004819982219487429,"velocity_rad_s":-0.013867415487766266,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008624380454421043,"velocity_rad_s":0.1988428831100464,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011973008513450623,"velocity_rad_s":0.004134371876716614,"acceleration_raw":0.0,"estimated_torque_nm":-1.1760306358337402,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.023785345256328583,"velocity_rad_s":-0.19304175674915314,"acceleration_raw":0.0,"estimated_torque_nm":1.0694252252578735,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27632027864456177,"velocity_rad_s":0.19634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20679979026317596,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9745931625366211,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018923090770840645,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22936609387397766,"velocity_rad_s":-0.19788353145122528,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17890051007270813,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03640807792544365,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.838620126247406,"velocity_rad_s":-0.3804272413253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015172028914093971,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788206716064,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810290,"imu":{"quaternion":[0.9914276003837585,-0.0004815771244466305,0.007830404676496983,0.13042153418064117],"gyroscope":[-0.02556634321808815,0.05006742104887962,0.1992044299840927],"accelerometer":[-0.05925649031996727,0.010773907415568829,9.278130531311035],"rpy":[0.0010877425083890557,0.015652813017368317,0.261604905128479],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33313801884651184,"velocity_rad_s":-0.18216875195503235,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013141102157533169,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00866455677896738,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6389370560646057,"velocity_rad_s":-0.11562806367874146,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31832823157310486,"velocity_rad_s":0.02488228864967823,"acceleration_raw":0.0,"estimated_torque_nm":-0.45309627056121826,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.002241671783849597,"velocity_rad_s":0.03084666095674038,"acceleration_raw":0.0,"estimated_torque_nm":-0.25612783432006836,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33620598912239075,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01245081052184105,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0008436894277110696,"velocity_rad_s":-0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033998727798462,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047811985015869,"velocity_rad_s":-0.005749679636210203,"acceleration_raw":0.0,"estimated_torque_nm":-4.969106197357178,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004834468942135572,"velocity_rad_s":-0.013867415487766266,"acceleration_raw":0.0,"estimated_torque_nm":0.6429921984672546,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008410110138356686,"velocity_rad_s":0.18341541290283203,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012132656760513783,"velocity_rad_s":0.01675192452967167,"acceleration_raw":0.0,"estimated_torque_nm":-1.1272646188735962,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0239578764885664,"velocity_rad_s":-0.181228369474411,"acceleration_raw":0.0,"estimated_torque_nm":0.9929925203323364,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2765359878540039,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2067158967256546,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9746171236038208,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0189590435475111,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22910243272781372,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17888852953910828,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036444030702114105,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8383564949035645,"velocity_rad_s":-0.3773593008518219,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015136076137423515,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788208989792,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810291,"imu":{"quaternion":[0.9914142489433289,-0.0004988296423107386,0.007849103771150112,0.13052166998386383],"gyroscope":[-0.034088458865880966,0.05326321721076965,0.2002696841955185],"accelerometer":[0.029628245159983635,0.07541735470294952,9.385869026184082],"rpy":[0.001059993403032422,0.015694286674261093,0.2618066966533661],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.333240270614624,"velocity_rad_s":-0.1690787822008133,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013064403086900711,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008544029667973518,"velocity_rad_s":-0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6388689279556274,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31830763816833496,"velocity_rad_s":0.030147897079586983,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0022490923292934895,"velocity_rad_s":0.03088967688381672,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33621448278427124,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012476377189159393,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0006562029011547565,"velocity_rad_s":-0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6033231616020203,"velocity_rad_s":-0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047811985015869,"velocity_rad_s":-0.003683448303490877,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004834468942135572,"velocity_rad_s":-0.004609135445207357,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008302975445985794,"velocity_rad_s":0.16455961763858795,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012155611999332905,"velocity_rad_s":0.037149954587221146,"acceleration_raw":0.0,"estimated_torque_nm":-1.2758214473724365,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02410002239048481,"velocity_rad_s":-0.1744856983423233,"acceleration_raw":0.0,"estimated_torque_nm":0.9163069725036621,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27666783332824707,"velocity_rad_s":0.18561168015003204,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20658408105373383,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9746650457382202,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018971027806401253,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2289586216211319,"velocity_rad_s":-0.1871456652879715,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03643204644322395,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.838104784488678,"velocity_rad_s":-0.3712233603000641,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01507615577429533,"velocity_rad_s":-0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788210574400,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810292,"imu":{"quaternion":[0.9914008378982544,-0.0005185367190279067,0.007871216163039207,0.13062183558940887],"gyroscope":[-0.038349516689777374,0.06072006747126579,0.2002696841955185],"accelerometer":[0.011671733111143112,0.21637597680091858,9.471162796020508],"rpy":[0.0010282775619998574,0.015743175521492958,0.2620086073875427],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33336812257766724,"velocity_rad_s":-0.17562377452850342,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013021792285144329,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00847707036882639,"velocity_rad_s":-0.09770727157592773,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6387240290641785,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-12.568359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3182787299156189,"velocity_rad_s":0.03009919449687004,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.002271085511893034,"velocity_rad_s":0.01974622905254364,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33624857664108276,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012484898790717125,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.0005624596378766,"velocity_rad_s":-0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6032038331031799,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30477699637413025,"velocity_rad_s":2.1613986973534338e-05,"acceleration_raw":0.0,"estimated_torque_nm":-5.059936046600342,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004827194381505251,"velocity_rad_s":-0.0037097132299095392,"acceleration_raw":0.0,"estimated_torque_nm":0.5907750129699707,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.008209232240915298,"velocity_rad_s":0.15941712260246277,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012246868573129177,"velocity_rad_s":0.043958816677331924,"acceleration_raw":0.0,"estimated_torque_nm":-1.3245793581008911,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02421807497739792,"velocity_rad_s":-0.17496269941329956,"acceleration_raw":0.0,"estimated_torque_nm":0.993831992149353,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27677568793296814,"velocity_rad_s":0.1871456652879715,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20650018751621246,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.974748969078064,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.018983012065291405,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22885076701641083,"velocity_rad_s":-0.17487381398677826,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036444030702114105,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8375775218009949,"velocity_rad_s":-0.3666214346885681,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01507615577429533,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.03750000149011612,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788212184640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810293,"imu":{"quaternion":[0.9913877248764038,-0.0005382703384384513,0.007899739779531956,0.13071990013122559],"gyroscope":[-0.0372842513024807,0.07350324094295502,0.19600863754749298],"accelerometer":[0.035913024097681046,0.3941454589366913,9.480140686035156],"rpy":[0.000998161849565804,0.015804791823029518,0.2622063159942627],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3334788978099823,"velocity_rad_s":-0.1745329350233078,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012996225617825985,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00847707036882639,"velocity_rad_s":-0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6386558413505554,"velocity_rad_s":-0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3182539939880371,"velocity_rad_s":0.031184785068035126,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0022857922594994307,"velocity_rad_s":0.02718379907310009,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3362826704978943,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-4.21875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012476377189159393,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00046871634549461305,"velocity_rad_s":-0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6031441688537598,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30478930473327637,"velocity_rad_s":-0.004711160436272621,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004805557895451784,"velocity_rad_s":-0.010165704414248466,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00799496192485094,"velocity_rad_s":0.1799870729446411,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01231535617262125,"velocity_rad_s":0.045907266438007355,"acceleration_raw":0.0,"estimated_torque_nm":-1.3245793581008911,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.024340836331248283,"velocity_rad_s":-0.1787327527999878,"acceleration_raw":0.0,"estimated_torque_nm":0.993831992149353,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27691948413848877,"velocity_rad_s":0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":0.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20642827451229095,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9747968912124634,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01901896484196186,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007262440398335457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22871893644332886,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03643204644322395,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8372898697853088,"velocity_rad_s":-0.3773593008518219,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015028218738734722,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788214061984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810294,"imu":{"quaternion":[0.9913744926452637,-0.0005543685401789844,0.007934664376080036,0.1308179348707199],"gyroscope":[-0.02876213565468788,0.08522114157676697,0.19600863754749298],"accelerometer":[-0.01975216343998909,0.29538464546203613,9.503484725952148],"rpy":[0.0009769423631951213,0.015878157690167427,0.26240402460098267],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33367490768432617,"velocity_rad_s":-0.14617133140563965,"acceleration_raw":0.0,"estimated_torque_nm":-3.603515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01296213734894991,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008423502556979656,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.638613224029541,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31823742389678955,"velocity_rad_s":0.030702868476510048,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0023149552289396524,"velocity_rad_s":0.03739432618021965,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3364104926586151,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012493421323597431,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00036158118746243417,"velocity_rad_s":-0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6030675172805786,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30478930473327637,"velocity_rad_s":-0.006809812970459461,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004805557895451784,"velocity_rad_s":-0.013859414495527744,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007928002625703812,"velocity_rad_s":0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012528199702501297,"velocity_rad_s":0.06826670467853546,"acceleration_raw":0.0,"estimated_torque_nm":-1.3733447790145874,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.024547794833779335,"velocity_rad_s":-0.18578320741653442,"acceleration_raw":0.0,"estimated_torque_nm":1.0703505277633667,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2772310972213745,"velocity_rad_s":0.18867965042591095,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20635637640953064,"velocity_rad_s":-0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9748328328132629,"velocity_rad_s":0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019030949100852013,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22851520776748657,"velocity_rad_s":-0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036444030702114105,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8370022773742676,"velocity_rad_s":-0.38656318187713623,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.015004250220954418,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788215934016,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810295,"imu":{"quaternion":[0.9913619160652161,-0.0005681033944711089,0.007972619496285915,0.13091117143630981],"gyroscope":[-0.023435814306139946,0.09054746478796005,0.1864212602376938],"accelerometer":[-0.01975216343998909,0.29538464546203613,9.503484725952148],"rpy":[0.0009611400892026722,0.015956921502947807,0.2625921368598938],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3337686359882355,"velocity_rad_s":-0.1276272088289261,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012911004945635796,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00832975935190916,"velocity_rad_s":-0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6385365128517151,"velocity_rad_s":-0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-12.568359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3182373344898224,"velocity_rad_s":0.021763509139418602,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0023294605780392885,"velocity_rad_s":0.040107060223817825,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3364616334438324,"velocity_rad_s":-0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012493421323597431,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.15427464246749878,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6030163764953613,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047851324081421,"velocity_rad_s":-0.00733447540551424,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004798283334821463,"velocity_rad_s":-0.014782841317355633,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007847650907933712,"velocity_rad_s":0.1577029675245285,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012543575838208199,"velocity_rad_s":0.07409393787384033,"acceleration_raw":0.0,"estimated_torque_nm":-1.4221100807189941,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.024694614112377167,"velocity_rad_s":-0.1833224594593048,"acceleration_raw":0.0,"estimated_torque_nm":1.1468690633773804,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2773629128932953,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20623652637004852,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9748927354812622,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019042933359742165,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007262440398335457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2284073531627655,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17888852953910828,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03645601496100426,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8367146253585815,"velocity_rad_s":-0.39730104804039,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014980281703174114,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788217813664,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810296,"imu":{"quaternion":[0.9913496971130371,-0.000578646082431078,0.008011632598936558,0.13100114464759827],"gyroscope":[-0.017044229432940483,0.09161273390054703,0.18002967536449432],"accelerometer":[-0.08798690885305405,0.31783026456832886,9.682151794433594],"rpy":[0.0009519073064438999,0.016036951914429665,0.26277366280555725],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3338453471660614,"velocity_rad_s":-0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":-3.603515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012885438278317451,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008276191540062428,"velocity_rad_s":-0.07542315870523453,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6384172439575195,"velocity_rad_s":-0.10581059008836746,"acceleration_raw":0.0,"estimated_torque_nm":-12.568359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3182166814804077,"velocity_rad_s":0.02594352886080742,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.002351386472582817,"velocity_rad_s":0.032712507992982864,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3365127742290497,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012510465458035469,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":0.00010713516530813649,"velocity_rad_s":-0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.602897047996521,"velocity_rad_s":-0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30478930473327637,"velocity_rad_s":-0.009443935006856918,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004805557895451784,"velocity_rad_s":-0.016621695831418037,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0077672996558249,"velocity_rad_s":0.1354188621044159,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012574098072946072,"velocity_rad_s":0.05951349437236786,"acceleration_raw":0.0,"estimated_torque_nm":-1.3733447790145874,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.024812204763293266,"velocity_rad_s":-0.18008509278297424,"acceleration_raw":0.0,"estimated_torque_nm":1.0703505277633667,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27751868963241577,"velocity_rad_s":0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2061646282672882,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.974976658821106,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01907888613641262,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2283114790916443,"velocity_rad_s":-0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17888852953910828,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03645601496100426,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.836079478263855,"velocity_rad_s":-0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014968297444283962,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788219694112,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810297,"imu":{"quaternion":[0.9913496971130371,-0.000578646082431078,0.008011632598936558,0.13100114464759827],"gyroscope":[-0.017044229432940483,0.09161273390054703,0.18002967536449432],"accelerometer":[-0.08798690885305405,0.31783026456832886,9.682151794433594],"rpy":[0.0009519073064438999,0.016036951914429665,0.26277366280555725],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3339305818080902,"velocity_rad_s":-0.13417218625545502,"acceleration_raw":0.0,"estimated_torque_nm":-3.603515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012868394143879414,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008236016146838665,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6383405327796936,"velocity_rad_s":-0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-12.568359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31817108392715454,"velocity_rad_s":0.028098473325371742,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0024315710179507732,"velocity_rad_s":0.04387316107749939,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33658096194267273,"velocity_rad_s":-0.09381145238876343,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012510465458035469,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":2.6783791327034123e-05,"velocity_rad_s":-0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6028373837471008,"velocity_rad_s":-0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047809302806854,"velocity_rad_s":-0.005192595534026623,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004791008774191141,"velocity_rad_s":-0.018508557230234146,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0076869479380548,"velocity_rad_s":0.14056134223937988,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012619788758456707,"velocity_rad_s":0.06631658971309662,"acceleration_raw":0.0,"estimated_torque_nm":-1.4221100807189941,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02492012456059456,"velocity_rad_s":-0.18076124787330627,"acceleration_raw":0.0,"estimated_torque_nm":1.1468690633773804,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27765053510665894,"velocity_rad_s":0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20610471069812775,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9750245809555054,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019090870395302773,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22822758555412292,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17888852953910828,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03645601496100426,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8357319235801697,"velocity_rad_s":-0.4356505572795868,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014920360408723354,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788221583040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810298,"imu":{"quaternion":[0.9913263320922852,-0.0005953403888270259,0.008090336807072163,0.13117316365242004],"gyroscope":[-0.010652642697095871,0.09161273390054703,0.17044228315353394],"accelerometer":[-0.0314238965511322,0.272938996553421,9.510666847229004],"rpy":[0.0009422405855730176,0.016197219491004944,0.2631209194660187],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3340839743614197,"velocity_rad_s":-0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":-3.603515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01284282747656107,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008209232240915298,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6382893919944763,"velocity_rad_s":-0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-12.568359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3181503713130951,"velocity_rad_s":0.029184062033891678,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0024680020287632942,"velocity_rad_s":0.05131072923541069,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3366832137107849,"velocity_rad_s":-0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012501942925155163,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-6.695948104606941e-05,"velocity_rad_s":-0.14227551221847534,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6027947664260864,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047810196876526,"velocity_rad_s":-0.0010385190835222602,"acceleration_raw":0.0,"estimated_torque_nm":-5.059936046600342,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004805495496839285,"velocity_rad_s":-0.0037017115391790867,"acceleration_raw":0.0,"estimated_torque_nm":0.5907750129699707,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007566420827060938,"velocity_rad_s":0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012718682177364826,"velocity_rad_s":0.05560998618602753,"acceleration_raw":0.0,"estimated_torque_nm":-1.4221100807189941,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025072449818253517,"velocity_rad_s":-0.1675374060869217,"acceleration_raw":0.0,"estimated_torque_nm":1.1468690633773804,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2779141962528229,"velocity_rad_s":0.18100973963737488,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20602081716060638,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9750844836235046,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019090870395302773,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22807179391384125,"velocity_rad_s":-0.12732040882110596,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03646799921989441,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8354203701019287,"velocity_rad_s":-0.4325825870037079,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014908376149833202,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788223466016,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810299,"imu":{"quaternion":[0.9913150072097778,-0.0005996493855491281,0.008128183893859386,0.13125620782375336],"gyroscope":[-0.0053263213485479355,0.08735167235136032,0.16618123650550842],"accelerometer":[-0.11133038252592087,0.272938996553421,9.451410293579102],"rpy":[0.000944991537835449,0.016273315995931625,0.26328858733177185],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33415213227272034,"velocity_rad_s":-0.10581059008836746,"acceleration_raw":0.0,"estimated_torque_nm":-3.603515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012834305875003338,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00814227294176817,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.638238251209259,"velocity_rad_s":-0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-12.65625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31812548637390137,"velocity_rad_s":0.032367780804634094,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0025117374025285244,"velocity_rad_s":0.0569082647562027,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33675992488861084,"velocity_rad_s":-0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012493421323597431,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00013391896209213883,"velocity_rad_s":-0.13713301718235016,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6027522087097168,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047851324081421,"velocity_rad_s":-0.0020986523013561964,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004798283334821463,"velocity_rad_s":-0.003693709848448634,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007512853480875492,"velocity_rad_s":0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012688484974205494,"velocity_rad_s":0.021543404087424278,"acceleration_raw":0.0,"estimated_torque_nm":-1.3740588426589966,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0252092108130455,"velocity_rad_s":-0.15307846665382385,"acceleration_raw":0.0,"estimated_torque_nm":1.0692534446716309,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27804601192474365,"velocity_rad_s":0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20591296255588531,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9751084446907043,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019102854654192924,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22798790037631989,"velocity_rad_s":-0.13038837909698486,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17888852953910828,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8350967764854431,"velocity_rad_s":-0.4325825870037079,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014884407632052898,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788225353152,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810299,"imu":{"quaternion":[0.9913037419319153,-0.000601264473516494,0.008166470564901829,0.1313386708498001],"gyroscope":[-0.0,0.08735167235136032,0.16511596739292145],"accelerometer":[-0.11133038252592087,0.272938996553421,9.451410293579102],"rpy":[0.00095320277614519,0.01634957268834114,0.2634550929069519],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3342629373073578,"velocity_rad_s":-0.1178097352385521,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012808739207684994,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008048529736697674,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6381189823150635,"velocity_rad_s":-0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":-12.568359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31811290979385376,"velocity_rad_s":0.02817152626812458,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0025626246351748705,"velocity_rad_s":0.06058833375573158,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3368280827999115,"velocity_rad_s":-0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012484898790717125,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0002946217136923224,"velocity_rad_s":-0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6026754975318909,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047850430011749,"velocity_rad_s":0.0021634940057992935,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004783778917044401,"velocity_rad_s":-0.0074354298412799835,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007459285669028759,"velocity_rad_s":0.08913645893335342,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012696165591478348,"velocity_rad_s":0.021536797285079956,"acceleration_raw":0.0,"estimated_torque_nm":-1.325234055519104,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02529250644147396,"velocity_rad_s":-0.14681045711040497,"acceleration_raw":0.0,"estimated_torque_nm":0.9928262233734131,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27817782759666443,"velocity_rad_s":0.18100973963737488,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20585303008556366,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9752642512321472,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019114838913083076,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22791600227355957,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8344616293907166,"velocity_rad_s":-0.424912691116333,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014872423373162746,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788227232064,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810300,"imu":{"quaternion":[0.9913037419319153,-0.000601264473516494,0.008166470564901829,0.1313386708498001],"gyroscope":[-0.0,0.08735167235136032,0.16511596739292145],"accelerometer":[-0.11133038252592087,0.272938996553421,9.451410293579102],"rpy":[0.00095320277614519,0.01634957268834114,0.2634550929069519],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33433961868286133,"velocity_rad_s":-0.1178097352385521,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012800217606127262,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008021745830774307,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6380507946014404,"velocity_rad_s":-0.12108222395181656,"acceleration_raw":0.0,"estimated_torque_nm":-12.568359375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3180508017539978,"velocity_rad_s":0.03609834983944893,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.002657430712133646,"velocity_rad_s":0.0671532079577446,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3368792235851288,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012484898790717125,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00037497308221645653,"velocity_rad_s":-0.1217055544257164,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6026328802108765,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047892153263092,"velocity_rad_s":0.0010709400521591306,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004791053477674723,"velocity_rad_s":-0.0018628583056852221,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00743250222876668,"velocity_rad_s":0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01272665150463581,"velocity_rad_s":0.021543404087424278,"acceleration_raw":0.0,"estimated_torque_nm":-1.325234055519104,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025400435552001,"velocity_rad_s":-0.15307846665382385,"acceleration_raw":0.0,"estimated_torque_nm":0.9928262233734131,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2783096730709076,"velocity_rad_s":0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20575715601444244,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9753242135047913,"velocity_rad_s":0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01912682317197323,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2278321087360382,"velocity_rad_s":-0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8341619968414307,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014824486337602139,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788229120160,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810301,"imu":{"quaternion":[0.9912823438644409,-0.0006047971546649933,0.00824012327939272,0.1314956396818161],"gyroscope":[-0.0010652643395587802,0.08522114157676697,0.15552859008312225],"accelerometer":[0.11941081285476685,0.12210428714752197,9.670479774475098],"rpy":[0.0009681627852842212,0.016496382653713226,0.263772189617157],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3344930410385132,"velocity_rad_s":-0.12544554471969604,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012791695073246956,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007954785600304604,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.638008177280426,"velocity_rad_s":-0.09490227699279785,"acceleration_raw":0.0,"estimated_torque_nm":-12.48046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3180176913738251,"velocity_rad_s":0.03979644924402237,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0027012331411242485,"velocity_rad_s":0.06996917724609375,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33699852228164673,"velocity_rad_s":-0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012501942925155163,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00044193255598656833,"velocity_rad_s":-0.12856221199035645,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6025987863540649,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30478915572166443,"velocity_rad_s":0.003705062437802553,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004776566755026579,"velocity_rad_s":0.0008994225645437837,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007285191211849451,"velocity_rad_s":0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012779922224581242,"velocity_rad_s":0.023487236350774765,"acceleration_raw":0.0,"estimated_torque_nm":-1.3740588426589966,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025513410568237305,"velocity_rad_s":-0.15309111773967743,"acceleration_raw":0.0,"estimated_torque_nm":1.0692534446716309,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2785373628139496,"velocity_rad_s":0.15493206679821014,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20569723844528198,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9753721356391907,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01913880743086338,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007262440398335457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22768829762935638,"velocity_rad_s":-0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03646799921989441,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8338024616241455,"velocity_rad_s":-0.4279806613922119,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014800517819821835,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.7437499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788230979168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810302,"imu":{"quaternion":[0.9912723898887634,-0.0006063368637114763,0.008275480009615421,0.1315685659646988],"gyroscope":[-0.0,0.08202534914016724,0.14594121277332306],"accelerometer":[0.0628477931022644,0.12659341096878052,9.57441234588623],"rpy":[0.0009756301296874881,0.016566818580031395,0.26391950249671936],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33460381627082825,"velocity_rad_s":-0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012783173471689224,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007901218719780445,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6379144191741943,"velocity_rad_s":-0.11344641447067261,"acceleration_raw":0.0,"estimated_torque_nm":-12.48046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31799691915512085,"velocity_rad_s":0.04086580500006676,"acceleration_raw":0.0,"estimated_torque_nm":-0.3616335391998291,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0027521876618266106,"velocity_rad_s":0.07369226217269897,"acceleration_raw":0.0,"estimated_torque_nm":-0.30814918875694275,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.337049663066864,"velocity_rad_s":-0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012501942925155163,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0005892434273846447,"velocity_rad_s":-0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6025732159614563,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047850430011749,"velocity_rad_s":0.004197304602712393,"acceleration_raw":0.0,"estimated_torque_nm":-4.969886779785156,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004783778917044401,"velocity_rad_s":0.007387419696897268,"acceleration_raw":0.0,"estimated_torque_nm":0.5396116971969604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.007245015352964401,"velocity_rad_s":0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012863668613135815,"velocity_rad_s":0.029325349256396294,"acceleration_raw":0.0,"estimated_torque_nm":-1.4736984968185425,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025724520906805992,"velocity_rad_s":-0.15939706563949585,"acceleration_raw":0.0,"estimated_torque_nm":0.916191041469574,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27866917848587036,"velocity_rad_s":0.16260196268558502,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2055414468050003,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9754440188407898,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019150791689753532,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007262440398335457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22759242355823517,"velocity_rad_s":-0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8334788680076599,"velocity_rad_s":-0.44025251269340515,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014716628938913345,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788232864608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810303,"imu":{"quaternion":[0.9912723898887634,-0.0006063368637114763,0.008275480009615421,0.1315685659646988],"gyroscope":[-0.0,0.08202534914016724,0.14594121277332306],"accelerometer":[0.0628477931022644,0.12659341096878052,9.57441234588623],"rpy":[0.0009756301296874881,0.016566818580031395,0.26391950249671936],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33469757437705994,"velocity_rad_s":-0.1330813616514206,"acceleration_raw":0.0,"estimated_torque_nm":-3.515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012766129337251186,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007807475049048662,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.637795090675354,"velocity_rad_s":-0.10362893342971802,"acceleration_raw":0.0,"estimated_torque_nm":-12.392578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3179638087749481,"velocity_rad_s":0.044572025537490845,"acceleration_raw":0.0,"estimated_torque_nm":-0.45309627056121826,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0027959903236478567,"velocity_rad_s":0.07836548238992691,"acceleration_raw":0.0,"estimated_torque_nm":-0.25612783432006836,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33711785078048706,"velocity_rad_s":-0.09053895622491837,"acceleration_raw":0.0,"estimated_torque_nm":-4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012476377189159393,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0006294191116467118,"velocity_rad_s":-0.10113560408353806,"acceleration_raw":0.0,"estimated_torque_nm":0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6024794578552246,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-19.248046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3047933280467987,"velocity_rad_s":0.003694255370646715,"acceleration_raw":0.0,"estimated_torque_nm":-5.149985313415527,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0047838413156569,"velocity_rad_s":0.0027542791794985533,"acceleration_raw":0.0,"estimated_torque_nm":0.641938328742981,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0071914480067789555,"velocity_rad_s":0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012878998182713985,"velocity_rad_s":0.013807549141347408,"acceleration_raw":0.0,"estimated_torque_nm":-1.5229512453079224,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025851977989077568,"velocity_rad_s":-0.16192874312400818,"acceleration_raw":0.0,"estimated_torque_nm":0.8387721180915833,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2788010239601135,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20546954870224,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9755519032478333,"velocity_rad_s":0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01912682317197323,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007262440398335457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22749654948711395,"velocity_rad_s":-0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8328557014465332,"velocity_rad_s":-0.44792240858078003,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.014692660421133041,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.7250000238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788235059968,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810322,"imu":{"quaternion":[0.9911182522773743,-0.0005896706134080887,0.00927470438182354,0.13265854120254517],"gyroscope":[0.015978964045643806,0.14807173609733582,0.09693904966115952],"accelerometer":[-0.2899976670742035,-0.027832595631480217,9.294290542602539],"rpy":[0.001292093307711184,0.01854216866195202,0.26612505316734314],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3376632630825043,"velocity_rad_s":-0.19307705760002136,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012510465458035469,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0067896912805736065,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.636746883392334,"velocity_rad_s":-0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-12.48046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31765833497047424,"velocity_rad_s":0.021755391731858253,"acceleration_raw":0.0,"estimated_torque_nm":-0.5445589423179626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003980980254709721,"velocity_rad_s":0.03824981674551964,"acceleration_raw":0.0,"estimated_torque_nm":-0.20410647988319397,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34006649255752563,"velocity_rad_s":-0.18653206527233124,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012399678118526936,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0017409464344382286,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020362973213196,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-19.51171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30483415722846985,"velocity_rad_s":0.0027421924751251936,"acceleration_raw":0.0,"estimated_torque_nm":-5.240815162658691,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0046827299520373344,"velocity_rad_s":-0.01578628644347191,"acceleration_raw":0.0,"estimated_torque_nm":0.589721143245697,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.005316582508385181,"velocity_rad_s":0.21255618333816528,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012434803880751133,"velocity_rad_s":-0.041554685682058334,"acceleration_raw":0.0,"estimated_torque_nm":-1.370972990989685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.029197128489613533,"velocity_rad_s":-0.2176995426416397,"acceleration_raw":0.0,"estimated_torque_nm":1.3719284534454346,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2823483347892761,"velocity_rad_s":0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2042471468448639,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9770139455795288,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019330555573105812,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22404509782791138,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302192091941833,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.011349061504006386,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.581250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788240883040,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810323,"imu":{"quaternion":[0.9911113381385803,-0.0005915812216699123,0.009346142411231995,0.13270558416843414],"gyroscope":[0.012783171609044075,0.15126752853393555,0.09374325722455978],"accelerometer":[-0.26485857367515564,-0.029628245159983635,9.35085391998291],"rpy":[0.0013081533834338188,0.018684234470129013,0.2662203907966614],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377825617790222,"velocity_rad_s":-0.18653206527233124,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012493421323597431,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006709339562803507,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6366957426071167,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31765004992485046,"velocity_rad_s":0.01966538280248642,"acceleration_raw":0.0,"estimated_torque_nm":-0.5454024076461792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.003995570819824934,"velocity_rad_s":0.04194709286093712,"acceleration_raw":0.0,"estimated_torque_nm":-0.10085956752300262,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34020283818244934,"velocity_rad_s":-0.1996220350265503,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01239115558564663,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001834689755924046,"velocity_rad_s":-0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020107269287109,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30483415722846985,"velocity_rad_s":0.0011465891730040312,"acceleration_raw":0.0,"estimated_torque_nm":-5.149205207824707,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0046827299520373344,"velocity_rad_s":-0.014846855774521828,"acceleration_raw":0.0,"estimated_torque_nm":0.7453188300132751,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.005115704145282507,"velocity_rad_s":0.25541025400161743,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012381852604448795,"velocity_rad_s":-0.047363538295030594,"acceleration_raw":0.0,"estimated_torque_nm":-1.370972990989685,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02938816510140896,"velocity_rad_s":-0.2390182763338089,"acceleration_raw":0.0,"estimated_torque_nm":1.3719284534454346,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28254008293151855,"velocity_rad_s":0.26691266894340515,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20421120524406433,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9771098494529724,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019342539831995964,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2239132672548294,"velocity_rad_s":-0.16720391809940338,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302311897277832,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01113334484398365,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-0.59375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788241593888,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810323,"imu":{"quaternion":[0.9911113381385803,-0.0005915812216699123,0.009346142411231995,0.13270558416843414],"gyroscope":[0.012783171609044075,0.15126752853393555,0.09374325722455978],"accelerometer":[-0.26485857367515564,-0.029628245159983635,9.35085391998291],"rpy":[0.0013081533834338188,0.018684234470129013,0.2662203907966614],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3379274308681488,"velocity_rad_s":-0.18653206527233124,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012484898790717125,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006655772216618061,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6366786956787109,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-12.3046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3176085948944092,"velocity_rad_s":0.02812282368540764,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004068451002240181,"velocity_rad_s":0.049444884061813354,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3403647541999817,"velocity_rad_s":-0.1898045539855957,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012357067316770554,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0018748653819784522,"velocity_rad_s":-0.07542315870523453,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020192503929138,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-20.0390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048343062400818,"velocity_rad_s":0.002152687171474099,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004711702931672335,"velocity_rad_s":-0.005580573342740536,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004941609688103199,"velocity_rad_s":0.253696084022522,"acceleration_raw":0.0,"estimated_torque_nm":-0.3355823755264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012328926473855972,"velocity_rad_s":-0.06776753067970276,"acceleration_raw":0.0,"estimated_torque_nm":-1.3699129819869995,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.029598837718367577,"velocity_rad_s":-0.25081250071525574,"acceleration_raw":0.0,"estimated_torque_nm":1.5245431661605835,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.282731831073761,"velocity_rad_s":0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9771697521209717,"velocity_rad_s":0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01937849260866642,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2237934172153473,"velocity_rad_s":-0.15800002217292786,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302551507949829,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.010749850422143936,"velocity_rad_s":-0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-0.59375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788244693568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810324,"imu":{"quaternion":[0.991098165512085,-0.000600406143348664,0.00950314849615097,0.1327928602695465],"gyroscope":[0.009587379172444344,0.16937702894210815,0.08522114157676697],"accelerometer":[-0.15801730751991272,-0.05027823522686958,9.37509536743164],"rpy":[0.0013340185396373272,0.018997708335518837,0.2663973867893219],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33808085322380066,"velocity_rad_s":-0.21707533299922943,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012501942925155163,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006602204404771328,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6366531252861023,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-12.3046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.317604124546051,"velocity_rad_s":0.02605716697871685,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004148281645029783,"velocity_rad_s":0.0587138868868351,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34050965309143066,"velocity_rad_s":-0.1952587217092514,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012340023182332516,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.001901649171486497,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.60199373960495,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30482184886932373,"velocity_rad_s":0.005868556909263134,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004704365972429514,"velocity_rad_s":-0.006536007858812809,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004593420308083296,"velocity_rad_s":0.25883856415748596,"acceleration_raw":0.0,"estimated_torque_nm":-0.39151278138160706,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012215245515108109,"velocity_rad_s":-0.08525542914867401,"acceleration_raw":0.0,"estimated_torque_nm":-1.32007896900177,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.029818901792168617,"velocity_rad_s":-0.2619988024234772,"acceleration_raw":0.0,"estimated_torque_nm":1.6009079217910767,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28293555974960327,"velocity_rad_s":0.26691266894340515,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9771937131881714,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019390476867556572,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22368556261062622,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302671313285828,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.010558102279901505,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-0.59375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.03750000149011612,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788245376736,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810325,"imu":{"quaternion":[0.9910919070243835,-0.0006053265533410013,0.009586126543581486,0.13283364474773407],"gyroscope":[0.010652642697095871,0.17470334470272064,0.08096008747816086],"accelerometer":[-0.12300211191177368,-0.024241292849183083,9.405621528625488],"rpy":[0.0013470991980284452,0.019163453951478004,0.26648014783859253],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3383791148662567,"velocity_rad_s":-0.19744037091732025,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012467854656279087,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0065620290115475655,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6366276144981384,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-12.3046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3175831437110901,"velocity_rad_s":0.028775198385119438,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004242769908159971,"velocity_rad_s":0.078236423432827,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3408164381980896,"velocity_rad_s":-0.1843504160642624,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01230593491345644,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0019552167505025864,"velocity_rad_s":-0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020022630691528,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-19.86328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30482611060142517,"velocity_rad_s":0.0042405324056744576,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004726127255707979,"velocity_rad_s":-3.200667561031878e-05,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004405933897942305,"velocity_rad_s":0.2622668743133545,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012086634524166584,"velocity_rad_s":-0.09882792085409164,"acceleration_raw":0.0,"estimated_torque_nm":-1.2193509340286255,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03026462532579899,"velocity_rad_s":-0.2958277463912964,"acceleration_raw":0.0,"estimated_torque_nm":1.9062520265579224,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2833070755004883,"velocity_rad_s":0.26691266894340515,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20407937467098236,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9772416353225708,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019426429644227028,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22346985340118408,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302551507949829,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.010342386551201344,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-0.59375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.03750000149011612,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788249075072,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810326,"imu":{"quaternion":[0.9910919070243835,-0.0006053265533410013,0.009586126543581486,0.13283364474773407],"gyroscope":[0.010652642697095871,0.17470334470272064,0.08096008747816086],"accelerometer":[-0.12300211191177368,-0.024241292849183083,9.405621528625488],"rpy":[0.0013470991980284452,0.019163453951478004,0.26648014783859253],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3385239839553833,"velocity_rad_s":-0.20834869146347046,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012459333054721355,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006454893853515387,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6366105675697327,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-12.3046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31755802035331726,"velocity_rad_s":0.03306073695421219,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004344526212662458,"velocity_rad_s":0.09498601406812668,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34098687767982483,"velocity_rad_s":-0.20289452373981476,"acceleration_raw":0.0,"estimated_torque_nm":-4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012297412380576134,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002022176282480359,"velocity_rad_s":-0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020022630691528,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048177659511566,"velocity_rad_s":0.004765195306390524,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004711578134447336,"velocity_rad_s":0.0008914208738133311,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004245230928063393,"velocity_rad_s":0.25541025400161743,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.012033692561089993,"velocity_rad_s":-0.0911378264427185,"acceleration_raw":0.0,"estimated_torque_nm":-1.1713371276855469,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.030465494841337204,"velocity_rad_s":-0.28609928488731384,"acceleration_raw":0.0,"estimated_torque_nm":1.8288369178771973,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.283474862575531,"velocity_rad_s":0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20403143763542175,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9772776365280151,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019414445385336876,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22336198389530182,"velocity_rad_s":-0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302910923957825,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.010222543962299824,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-0.581250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788249766304,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810327,"imu":{"quaternion":[0.9910855889320374,-0.0006084076012484729,0.00966815184801817,0.13287489116191864],"gyroscope":[0.013848436065018177,0.17257282137870789,0.08202534914016724],"accelerometer":[-0.049380410462617874,0.11581950634717941,9.560047149658203],"rpy":[0.0013635960640385747,0.019326820969581604,0.2665638327598572],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3386688530445099,"velocity_rad_s":-0.215984508395195,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012433766387403011,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0064013260416686535,"velocity_rad_s":-0.10113560408353806,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6365764737129211,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3174956738948822,"velocity_rad_s":0.03845621645450592,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00449738884344697,"velocity_rad_s":0.12474489212036133,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3411487936973572,"velocity_rad_s":-0.21380284428596497,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012271846644580364,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0020757438614964485,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.60199373960495,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048177659511566,"velocity_rad_s":0.00583613570779562,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004711578134447336,"velocity_rad_s":-0.0009714373154565692,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.004057744517922401,"velocity_rad_s":0.2708377242088318,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011957889422774315,"velocity_rad_s":-0.11448650807142258,"acceleration_raw":0.0,"estimated_torque_nm":-1.2201428413391113,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0306418277323246,"velocity_rad_s":-0.2746323049068451,"acceleration_raw":0.0,"estimated_torque_nm":1.9050384759902954,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2836785912513733,"velocity_rad_s":0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773255586624146,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019426429644227028,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2231942117214203,"velocity_rad_s":-0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302910923957825,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.01005476526916027,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-0.581250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788254117312,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810328,"imu":{"quaternion":[0.9910730719566345,-0.0006139990873634815,0.009825005196034908,0.13295629620552063],"gyroscope":[0.010652642697095871,0.16192017495632172,0.08202534914016724],"accelerometer":[-0.05656301602721214,0.0942716896533966,9.436147689819336],"rpy":[0.0013958262279629707,0.01963912881910801,0.26672905683517456],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3388307988643646,"velocity_rad_s":-0.2367102950811386,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012416722252964973,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006361150648444891,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6365679502487183,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31749093532562256,"velocity_rad_s":0.03796618431806564,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004635258577764034,"velocity_rad_s":0.13309818506240845,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34130218625068665,"velocity_rad_s":-0.22362031042575836,"acceleration_raw":0.0,"estimated_torque_nm":-3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012271846644580364,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002129311440512538,"velocity_rad_s":-0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020022630691528,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-19.86328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30481356382369995,"velocity_rad_s":0.00373748317360878,"acceleration_raw":0.0,"estimated_torque_nm":-5.149205207824707,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004704303573817015,"velocity_rad_s":-0.004665147513151169,"acceleration_raw":0.0,"estimated_torque_nm":0.7453188300132751,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.003736338810995221,"velocity_rad_s":0.22626948356628418,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011912479996681213,"velocity_rad_s":-0.08823533356189728,"acceleration_raw":0.0,"estimated_torque_nm":-1.1713371276855469,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03082817979156971,"velocity_rad_s":-0.2704005241394043,"acceleration_raw":0.0,"estimated_torque_nm":1.8288369178771973,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28385835886001587,"velocity_rad_s":0.2592427730560303,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773615002632141,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019426429644227028,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2230384200811386,"velocity_rad_s":-0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302791118621826,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.009767143987119198,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.59375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788254829088,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810329,"imu":{"quaternion":[0.9910663962364197,-0.0006189958658069372,0.00989905558526516,0.1330002099275589],"gyroscope":[0.0074568502604961395,0.157659113407135,0.08735167235136032],"accelerometer":[-0.13916297256946564,0.12300211191177368,9.215282440185547],"rpy":[0.001406496623530984,0.01978718489408493,0.2668180763721466],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3391546308994293,"velocity_rad_s":-0.2367102950811386,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012416722252964973,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006294190883636475,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6365338563919067,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31746581196784973,"velocity_rad_s":0.03535367175936699,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0047370330430567265,"velocity_rad_s":0.1377197653055191,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34160900115966797,"velocity_rad_s":-0.22689282894134521,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01224627997726202,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0021828790195286274,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019852161407471,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30482184886932373,"velocity_rad_s":-0.0005246630753390491,"acceleration_raw":0.0,"estimated_torque_nm":-5.149205207824707,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004704365972429514,"velocity_rad_s":-0.0009234274621121585,"acceleration_raw":0.0,"estimated_torque_nm":0.7453188300132751,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.003562244353815913,"velocity_rad_s":0.2485535889863968,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011981088668107986,"velocity_rad_s":-0.0697588175535202,"acceleration_raw":0.0,"estimated_torque_nm":-1.2201428413391113,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.031079119071364403,"velocity_rad_s":-0.2711482346057892,"acceleration_raw":0.0,"estimated_torque_nm":1.9050384759902954,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28419390320777893,"velocity_rad_s":0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20391158759593964,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774214029312134,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01943841390311718,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2226908802986145,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302910923957825,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.00959936436265707,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.59375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788257496096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810330,"imu":{"quaternion":[0.9910663962364197,-0.0006189958658069372,0.00989905558526516,0.1330002099275589],"gyroscope":[0.0074568502604961395,0.157659113407135,0.08735167235136032],"accelerometer":[-0.13916297256946564,0.12300211191177368,9.215282440185547],"rpy":[0.001406496623530984,0.01978718489408493,0.2668180763721466],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3393080234527588,"velocity_rad_s":-0.22252948582172394,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012408199720084667,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006200447678565979,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6365253329277039,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.317444771528244,"velocity_rad_s":0.039068009704351425,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.004846026189625263,"velocity_rad_s":0.14425022900104523,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34179648756980896,"velocity_rad_s":-0.21707533299922943,"acceleration_raw":0.0,"estimated_torque_nm":-3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01224627997726202,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002316797850653529,"velocity_rad_s":-0.12513387203216553,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019766926765442,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048177659511566,"velocity_rad_s":-0.000513856066390872,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004711578134447336,"velocity_rad_s":-0.0027782840188592672,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0034015413839370012,"velocity_rad_s":0.253696084022522,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":53.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011768613010644913,"velocity_rad_s":-0.06295955181121826,"acceleration_raw":0.0,"estimated_torque_nm":-1.2201428413391113,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.031333159655332565,"velocity_rad_s":-0.26301896572113037,"acceleration_raw":0.0,"estimated_torque_nm":1.9050384759902954,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843976616859436,"velocity_rad_s":0.2485048919916153,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20391158759593964,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774693846702576,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019474366679787636,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22251111268997192,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302910923957825,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.009467537514865398,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.59375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788258176928,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810331,"imu":{"quaternion":[0.9910595417022705,-0.0006250852020457387,0.00997353345155716,0.1330457180738449],"gyroscope":[0.0053263213485479355,0.15872438251972198,0.09054746478796005],"accelerometer":[-0.17417816817760468,0.06374561786651611,9.207201957702637],"rpy":[0.0014151603681966662,0.01993638277053833,0.2669103145599365],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3394955098628998,"velocity_rad_s":-0.23452861607074738,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012382633984088898,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006160271819680929,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6364912390708923,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3173781931400299,"velocity_rad_s":0.04063551500439644,"acceleration_raw":0.0,"estimated_torque_nm":-0.5454024076461792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005020662676542997,"velocity_rad_s":0.14147727191448212,"acceleration_raw":0.0,"estimated_torque_nm":-0.10085956752300262,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3419584035873413,"velocity_rad_s":-0.20616701245307922,"acceleration_raw":0.0,"estimated_torque_nm":-3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012254801578819752,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0023703654296696186,"velocity_rad_s":-0.10456392168998718,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019511222839355,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048177659511566,"velocity_rad_s":-0.0016064101364463568,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004711578134447336,"velocity_rad_s":0.0027942874003201723,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00321405497379601,"velocity_rad_s":0.24169693887233734,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011723178438842297,"velocity_rad_s":-0.06783761829137802,"acceleration_raw":0.0,"estimated_torque_nm":-1.2201428413391113,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03149004280567169,"velocity_rad_s":-0.24601270258426666,"acceleration_raw":0.0,"estimated_torque_nm":1.9050384759902954,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2845534384250641,"velocity_rad_s":0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20387564599514008,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9775412678718567,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019462382420897484,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2223433256149292,"velocity_rad_s":-0.23009712994098663,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302671313285828,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.009287774562835693,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.59375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788261674432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810332,"imu":{"quaternion":[0.9910455346107483,-0.0006379735423251987,0.010133263655006886,0.13313785195350647],"gyroscope":[0.0053263213485479355,0.17257282137870789,0.09161273390054703],"accelerometer":[-0.13826514780521393,0.11043255031108856,9.709983825683594],"rpy":[0.0014340151101350784,0.020256314426660538,0.2670970857143402],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33964890241622925,"velocity_rad_s":-0.2356194704771042,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012374111451208591,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006120096426457167,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6364827156066895,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-12.3046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31740230321884155,"velocity_rad_s":0.030675502493977547,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005151062272489071,"velocity_rad_s":0.1516103595495224,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34212884306907654,"velocity_rad_s":-0.2050761878490448,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012254801578819752,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0024373249616473913,"velocity_rad_s":-0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019681692123413,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-20.0390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048177659511566,"velocity_rad_s":0.0010925540700554848,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004711578134447336,"velocity_rad_s":-0.0055725714191794395,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.002852473873645067,"velocity_rad_s":0.2845510244369507,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011662541888654232,"velocity_rad_s":-0.062018465250730515,"acceleration_raw":0.0,"estimated_torque_nm":-1.1713371276855469,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.031637001782655716,"velocity_rad_s":-0.22970402240753174,"acceleration_raw":0.0,"estimated_torque_nm":1.8288369178771973,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28473320603370667,"velocity_rad_s":0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20386365056037903,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9776131510734558,"velocity_rad_s":0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019486350938677788,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22213959693908691,"velocity_rad_s":-0.24083499610424042,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302791118621826,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.008952216245234013,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.581250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788262356800,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810333,"imu":{"quaternion":[0.9910455346107483,-0.0006379735423251987,0.010133263655006886,0.13313785195350647],"gyroscope":[0.0053263213485479355,0.17257282137870789,0.09161273390054703],"accelerometer":[-0.13826514780521393,0.11043255031108856,9.709983825683594],"rpy":[0.0014340151101350784,0.020256314426660538,0.2670970857143402],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3399897813796997,"velocity_rad_s":-0.2519819140434265,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012374111451208591,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.006039745174348354,"velocity_rad_s":-0.10113560408353806,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6364656686782837,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3173896074295044,"velocity_rad_s":0.020634319633245468,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0052309599705040455,"velocity_rad_s":0.1431710571050644,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34244415163993835,"velocity_rad_s":-0.215984508395195,"acceleration_raw":0.0,"estimated_torque_nm":-4.04296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012254801578819752,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0025176764465868473,"velocity_rad_s":-0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019681692123413,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30481356382369995,"velocity_rad_s":0.0005462770350277424,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004704303573817015,"velocity_rad_s":-0.0027862857095897198,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":0.2742660343647003,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011700707487761974,"velocity_rad_s":-0.08147629350423813,"acceleration_raw":0.0,"estimated_torque_nm":-1.1723194122314453,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.031828805804252625,"velocity_rad_s":-0.2195195108652115,"acceleration_raw":0.0,"estimated_torque_nm":1.67634117603302,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2850927412509918,"velocity_rad_s":0.24390295147895813,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20383968949317932,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9776491522789001,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019486350938677788,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2217920571565628,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302671313285828,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.008772453293204308,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.581250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788266579264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810334,"imu":{"quaternion":[0.99103844165802,-0.0006472108070738614,0.010216489434242249,0.1331845074892044],"gyroscope":[0.0010652643395587802,0.1768338829278946,0.0926779955625534],"accelerometer":[-0.13826514780521393,0.11043255031108856,9.709983825683594],"rpy":[0.001438835053704679,0.020423684269189835,0.26719164848327637],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34014320373535156,"velocity_rad_s":-0.2410736083984375,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012357067316770554,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005959393456578255,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6364571452140808,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31738507747650146,"velocity_rad_s":0.015360596589744091,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0053253136575222015,"velocity_rad_s":0.14127078652381897,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3426486849784851,"velocity_rad_s":-0.22362031042575836,"acceleration_raw":0.0,"estimated_torque_nm":-3.955078125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012237757444381714,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002651595277711749,"velocity_rad_s":-0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019596457481384,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-19.86328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30481356382369995,"velocity_rad_s":0.003191206371411681,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004704303573817015,"velocity_rad_s":-0.0018788616871461272,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0024373249616473913,"velocity_rad_s":0.2794085144996643,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011511015705764294,"velocity_rad_s":-0.07369576394557953,"acceleration_raw":0.0,"estimated_torque_nm":-1.1225314140319824,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03207807615399361,"velocity_rad_s":-0.22082702815532684,"acceleration_raw":0.0,"estimated_torque_nm":1.7526353597640991,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28526049852371216,"velocity_rad_s":0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20381571352481842,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777090549468994,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019486350938677788,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22160030901432037,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302671313285828,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.008580705150961876,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-0.581250011920929,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788267301408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810335,"imu":{"quaternion":[0.9910312294960022,-0.0006587285315617919,0.010301008820533752,0.13323120772838593],"gyroscope":[-0.0031957929022610188,0.18002967536449432,0.0926779955625534],"accelerometer":[-0.1472434103488922,0.11671733111143112,9.780014991760254],"rpy":[0.0014394960599020123,0.020594226196408272,0.2672862410545349],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34033069014549255,"velocity_rad_s":-0.24980026483535767,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012348544783890247,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005919218063354492,"velocity_rad_s":-0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6364486217498779,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3173600733280182,"velocity_rad_s":0.01105070486664772,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0053980592638254166,"velocity_rad_s":0.11894948035478592,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34281912446022034,"velocity_rad_s":-0.2367102950811386,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01224627997726202,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027051628567278385,"velocity_rad_s":-0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019596457481384,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048177659511566,"velocity_rad_s":0.0010601331014186144,"acceleration_raw":0.0,"estimated_torque_nm":-4.968326091766357,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004711578134447336,"velocity_rad_s":-8.001668902579695e-06,"acceleration_raw":0.0,"estimated_torque_nm":0.7463726997375488,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.002236446598544717,"velocity_rad_s":0.2742660343647003,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011457998305559158,"velocity_rad_s":-0.0698084607720375,"acceleration_raw":0.0,"estimated_torque_nm":-1.1713371276855469,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03224964812397957,"velocity_rad_s":-0.218337282538414,"acceleration_raw":0.0,"estimated_torque_nm":1.8288369178771973,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28546425700187683,"velocity_rad_s":0.2607767581939697,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20380373299121857,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977828860282898,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01949833519756794,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2214205414056778,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302671313285828,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.008376973681151867,"velocity_rad_s":-0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-0.5687500238418579,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788270331360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810336,"imu":{"quaternion":[0.991017758846283,-0.0006845556781627238,0.010472433641552925,0.13331830501556396],"gyroscope":[-0.0031957929022610188,0.18216019868850708,0.08522114157676697],"accelerometer":[-0.23523031175136566,0.029628245159983635,9.534908294677734],"rpy":[0.0014358357293531299,0.020940793678164482,0.26746273040771484],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3405011296272278,"velocity_rad_s":-0.23780110478401184,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012340023182332516,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005879042204469442,"velocity_rad_s":-0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6364486217498779,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31738847494125366,"velocity_rad_s":0.01256951130926609,"acceleration_raw":0.0,"estimated_torque_nm":-0.454783171415329,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005492144264280796,"velocity_rad_s":0.10503307729959488,"acceleration_raw":0.0,"estimated_torque_nm":-0.049633998423814774,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34300661087036133,"velocity_rad_s":-0.23343780636787415,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012229235842823982,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0027855143416672945,"velocity_rad_s":-0.1217055544257164,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019596457481384,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-20.0390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30482184886932373,"velocity_rad_s":-0.004197304602712393,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004704365972429514,"velocity_rad_s":-0.007387419696897268,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0020355682354420424,"velocity_rad_s":0.2896934747695923,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011397398076951504,"velocity_rad_s":-0.07076963782310486,"acceleration_raw":0.0,"estimated_torque_nm":-1.1713371276855469,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03243590146303177,"velocity_rad_s":-0.23027634620666504,"acceleration_raw":0.0,"estimated_torque_nm":1.8288369178771973,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2856200337409973,"velocity_rad_s":0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20375579595565796,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9779008030891418,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01949833519756794,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22122879326343536,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302671313285828,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.007981494069099426,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.5562499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788271018144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810337,"imu":{"quaternion":[0.991017758846283,-0.0006845556781627238,0.010472433641552925,0.13331830501556396],"gyroscope":[-0.0031957929022610188,0.18216019868850708,0.08522114157676697],"accelerometer":[-0.23523031175136566,0.029628245159983635,9.534908294677734],"rpy":[0.0014358357293531299,0.020940793678164482,0.26746273040771484],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3408505320549011,"velocity_rad_s":-0.2367102950811386,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012340023182332516,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00579869095236063,"velocity_rad_s":-0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.636440098285675,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31738418340682983,"velocity_rad_s":0.01039833202958107,"acceleration_raw":0.0,"estimated_torque_nm":-0.5454024076461792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00552845885977149,"velocity_rad_s":0.09015794098377228,"acceleration_raw":0.0,"estimated_torque_nm":-0.10085956752300262,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3433475196361542,"velocity_rad_s":-0.21271201968193054,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012254801578819752,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002852473873645067,"velocity_rad_s":-0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019340753555298,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30482184886932373,"velocity_rad_s":-0.003694255370646715,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004704365972429514,"velocity_rad_s":-0.0027542791794985533,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0016204193234443665,"velocity_rad_s":0.2794085144996643,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":53.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.01141283381730318,"velocity_rad_s":-0.09116745740175247,"acceleration_raw":0.0,"estimated_torque_nm":-1.1697274446487427,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03266220912337303,"velocity_rad_s":-0.22973646223545074,"acceleration_raw":0.0,"estimated_torque_nm":1.8263237476348877,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2859196364879608,"velocity_rad_s":0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20375579595565796,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977972686290741,"velocity_rad_s":0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01949833519756794,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22088125348091125,"velocity_rad_s":-0.2592427730560303,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302551507949829,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.007765777874737978,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.5562499761581421,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788274305120,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810338,"imu":{"quaternion":[0.9910110235214233,-0.0006953388219699264,0.010557747446000576,0.13336129486560822],"gyroscope":[-0.0010652643395587802,0.1810949295759201,0.08522114157676697],"accelerometer":[-0.23523031175136566,0.029628245159983635,9.534908294677734],"rpy":[0.0014381337678059936,0.02111271768808365,0.2675498425960541],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34102949500083923,"velocity_rad_s":-0.24434611201286316,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012322979047894478,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00571833923459053,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.636440098285675,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3173881471157074,"velocity_rad_s":0.00559840677306056,"acceleration_raw":0.0,"estimated_torque_nm":-0.5454024076461792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005564688239246607,"velocity_rad_s":0.07618992030620575,"acceleration_raw":0.0,"estimated_torque_nm":-0.10085956752300262,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34354352951049805,"velocity_rad_s":-0.2258019745349884,"acceleration_raw":0.0,"estimated_torque_nm":-3.8671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012237757444381714,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.002986392704769969,"velocity_rad_s":-0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019766926765442,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-19.86328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048093914985657,"velocity_rad_s":0.0016064101364463568,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004697029013186693,"velocity_rad_s":-0.0027942874003201723,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0014061490073800087,"velocity_rad_s":0.27769434452056885,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011139579117298126,"velocity_rad_s":-0.10192589461803436,"acceleration_raw":0.0,"estimated_torque_nm":-1.1220475435256958,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03294558450579643,"velocity_rad_s":-0.23311178386211395,"acceleration_raw":0.0,"estimated_torque_nm":1.9012888669967651,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.286051481962204,"velocity_rad_s":0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20373183488845825,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00523710623383522,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9780446290969849,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.01949833519756794,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22067752480506897,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302671313285828,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.00755006168037653,"velocity_rad_s":-0.2883884012699127,"acceleration_raw":0.0,"estimated_torque_nm":-0.543749988079071,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788274997056,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810339,"imu":{"quaternion":[0.9910044074058533,-0.0007050195126794279,0.010642841458320618,0.13340425491333008],"gyroscope":[0.0010652643395587802,0.18002967536449432,0.08522114157676697],"accelerometer":[-0.3348889648914337,0.061052143573760986,9.553762435913086],"rpy":[0.0014425725676119328,0.021283917129039764,0.2676369845867157],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3412255048751831,"velocity_rad_s":-0.2508910894393921,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012314456515014172,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005691555794328451,"velocity_rad_s":-0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6364315748214722,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-12.3046875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31738802790641785,"velocity_rad_s":0.009223454631865025,"acceleration_raw":0.0,"estimated_torque_nm":-0.5454024076461792,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.005593716632574797,"velocity_rad_s":0.06229071691632271,"acceleration_raw":0.0,"estimated_torque_nm":-0.10085956752300262,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34373101592063904,"velocity_rad_s":-0.24980026483535767,"acceleration_raw":0.0,"estimated_torque_nm":-3.779296875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012229235842823982,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.003066744189709425,"velocity_rad_s":-0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019596457481384,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-19.951171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3048177659511566,"velocity_rad_s":0.0010709400521591306,"acceleration_raw":0.0,"estimated_torque_nm":-5.0591559410095215,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004711578134447336,"velocity_rad_s":-0.0018628583056852221,"acceleration_raw":0.0,"estimated_torque_nm":0.6941555142402649,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001191878691315651,"velocity_rad_s":0.26912355422973633,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.011071321554481983,"velocity_rad_s":-0.10872957110404968,"acceleration_raw":0.0,"estimated_torque_nm":-1.0234779119491577,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03309774771332741,"velocity_rad_s":-0.23874059319496155,"acceleration_raw":0.0,"estimated_torque_nm":1.9013744592666626,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2861952781677246,"velocity_rad_s":0.24083499610424042,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20370785892009735,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.9375,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.978200376033783,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.019510319456458092,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22050973773002625,"velocity_rad_s":-0.2623107135295868,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8302551507949829,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":0.007334345951676369,"velocity_rad_s":-0.2761165499687195,"acceleration_raw":0.0,"estimated_torque_nm":-0.543749988079071,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788276987232,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810360,"imu":{"quaternion":[0.9908640384674072,-0.0009715171763673425,0.012742213904857635,0.13425765931606293],"gyroscope":[-0.0,0.19813916087150574,0.07563376426696777],"accelerometer":[0.0017956512747332454,0.29897594451904297,10.564714431762695],"rpy":[0.001496684504672885,0.0255152378231287,0.26936981081962585],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34661146998405457,"velocity_rad_s":-0.21816617250442505,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011905395425856113,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004392541944980621,"velocity_rad_s":-0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6363804340362549,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3159482181072235,"velocity_rad_s":0.06716211885213852,"acceleration_raw":0.0,"estimated_torque_nm":-0.09009364992380142,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007041878532618284,"velocity_rad_s":0.09897896647453308,"acceleration_raw":0.0,"estimated_torque_nm":-0.051227863878011703,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34913402795791626,"velocity_rad_s":-0.14180800318717957,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012220713309943676,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004847866017371416,"velocity_rad_s":-0.10456392168998718,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.60199373960495,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-19.599609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.304681658744812,"velocity_rad_s":-0.001628024154342711,"acceleration_raw":0.0,"estimated_torque_nm":-4.42490816116333,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004804745316505432,"velocity_rad_s":0.0065040006302297115,"acceleration_raw":0.0,"estimated_torque_nm":0.8529148101806641,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00416487967595458,"velocity_rad_s":0.28112268447875977,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.008376840502023697,"velocity_rad_s":-0.14487376809120178,"acceleration_raw":0.0,"estimated_torque_nm":-0.5328259468078613,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037686191499233246,"velocity_rad_s":-0.1653662621974945,"acceleration_raw":0.0,"estimated_torque_nm":1.897660732269287,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.288364440202713,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203623965382576,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9798781871795654,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020552946254611015,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21588383615016937,"velocity_rad_s":-0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8299315571784973,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0008868326549418271,"velocity_rad_s":-0.49087387323379517,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788280375232,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810361,"imu":{"quaternion":[0.9908576607704163,-0.000982420751824975,0.012827910482883453,0.1342969387769699],"gyroscope":[-0.0021305286791175604,0.1810949295759201,0.07776429504156113],"accelerometer":[0.049380410462617874,0.2684498727321625,10.494684219360352],"rpy":[0.0014991149073466659,0.025687964633107185,0.2694495916366577],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3468756675720215,"velocity_rad_s":-0.18653206527233124,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01187982875853777,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0043523660860955715,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6363548636436462,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-12.041015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31591498851776123,"velocity_rad_s":0.06286835670471191,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0070711774751544,"velocity_rad_s":0.08594366163015366,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34927037358283997,"velocity_rad_s":-0.1647154539823532,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012220713309943676,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.004901433829218149,"velocity_rad_s":-0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020107269287109,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-19.51171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.304681658744812,"velocity_rad_s":-0.0021202662028372288,"acceleration_raw":0.0,"estimated_torque_nm":-4.42490816116333,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004804745316505432,"velocity_rad_s":1.600333780515939e-05,"acceleration_raw":0.0,"estimated_torque_nm":0.8529148101806641,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004338974133133888,"velocity_rad_s":0.2656952142715454,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.008255301043391228,"velocity_rad_s":-0.13029175996780396,"acceleration_raw":0.0,"estimated_torque_nm":-0.5335547924041748,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03782372921705246,"velocity_rad_s":-0.14459961652755737,"acceleration_raw":0.0,"estimated_torque_nm":1.7458206415176392,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2884243428707123,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005309011787176132,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9799021482467651,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020624851807951927,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21571604907512665,"velocity_rad_s":-0.23009712994098663,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8299075961112976,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0012343751732259989,"velocity_rad_s":-0.45405831933021545,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788281069920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810362,"imu":{"quaternion":[0.9908512234687805,-0.0009954844135791063,0.012906434014439583,0.13433681428432465],"gyroscope":[-0.008522114716470242,0.16831175982952118,0.0788295567035675],"accelerometer":[0.14903905987739563,0.20560206472873688,10.472238540649414],"rpy":[0.0014953645877540112,0.025847051292657852,0.26953041553497314],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34697791934013367,"velocity_rad_s":-0.16035212576389313,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011888351291418076,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004258622881025076,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6363292932510376,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-12.041015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31589415669441223,"velocity_rad_s":0.052760958671569824,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0071076094172894955,"velocity_rad_s":0.07564662396907806,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3493811786174774,"velocity_rad_s":-0.14071717858314514,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012203669175505638,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005035352893173695,"velocity_rad_s":-0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019852161407471,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-19.51171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.304681658744812,"velocity_rad_s":-0.0010925540700554848,"acceleration_raw":0.0,"estimated_torque_nm":-4.42490816116333,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004804745316505432,"velocity_rad_s":0.0055725714191794395,"acceleration_raw":0.0,"estimated_torque_nm":0.8529148101806641,"temperature_raw":[40,39],"voltage_raw":53.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0044996771030128,"velocity_rad_s":0.26398104429244995,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.008171724155545235,"velocity_rad_s":-0.12932784855365753,"acceleration_raw":0.0,"estimated_torque_nm":-0.5831862688064575,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03788745775818825,"velocity_rad_s":-0.13008174300193787,"acceleration_raw":0.0,"estimated_torque_nm":1.6698697805404663,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28843632340431213,"velocity_rad_s":0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203623965382576,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00529702752828598,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9800220131874084,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020672788843512535,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21553629636764526,"velocity_rad_s":-0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8299315571784973,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0015939020086079836,"velocity_rad_s":-0.46019425988197327,"acceleration_raw":0.0,"estimated_torque_nm":-0.3687500059604645,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788283494336,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810363,"imu":{"quaternion":[0.9908447861671448,-0.0010095118777826428,0.012976918369531631,0.13437774777412415],"gyroscope":[-0.012783171609044075,0.1533980667591095,0.08096008747816086],"accelerometer":[0.14903905987739563,0.20560206472873688,10.472238540649414],"rpy":[0.0014875817578285933,0.02599046193063259,0.2696133255958557],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3471313416957855,"velocity_rad_s":-0.17126044631004333,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011854262091219425,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0041916631162166595,"velocity_rad_s":-0.10113560408353806,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.636303722858429,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-12.041015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3158648908138275,"velocity_rad_s":0.04318724200129509,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007173137739300728,"velocity_rad_s":0.06628253310918808,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3494919538497925,"velocity_rad_s":-0.14071717858314514,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012203669175505638,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005115704145282507,"velocity_rad_s":-0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020022630691528,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-19.51171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3046857416629791,"velocity_rad_s":0.0015739891678094864,"acceleration_raw":0.0,"estimated_torque_nm":-4.42490816116333,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004797533620148897,"velocity_rad_s":0.0027702823281288147,"acceleration_raw":0.0,"estimated_torque_nm":0.8529148101806641,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004660379607230425,"velocity_rad_s":0.23998278379440308,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.008095738478004932,"velocity_rad_s":-0.13322539627552032,"acceleration_raw":0.0,"estimated_torque_nm":-0.5342836976051331,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03793642297387123,"velocity_rad_s":-0.12122324109077454,"acceleration_raw":0.0,"estimated_torque_nm":1.5939806699752808,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28848427534103394,"velocity_rad_s":0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203623965382576,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9800938963890076,"velocity_rad_s":0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020804615691304207,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2153804898262024,"velocity_rad_s":-0.23009712994098663,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8299075961112976,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.002241050126031041,"velocity_rad_s":-0.41724279522895813,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788286503360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810364,"imu":{"quaternion":[0.990838348865509,-0.0010192595655098557,0.01304332260042429,0.13441859185695648],"gyroscope":[-0.0053263213485479355,0.14487594366073608,0.08096008747816086],"accelerometer":[0.166995570063591,0.1041477769613266,10.36180591583252],"rpy":[0.0014871950261294842,0.026124635711312294,0.26969611644744873],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3472421169281006,"velocity_rad_s":-0.16035212576389313,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011871307156980038,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004151487722992897,"velocity_rad_s":-0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6362866759300232,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-12.12890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31585654616355896,"velocity_rad_s":0.03783423826098442,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0071877287700772285,"velocity_rad_s":0.053238578140735626,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3495686650276184,"velocity_rad_s":-0.13089969754219055,"acceleration_raw":0.0,"estimated_torque_nm":-3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012212191708385944,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.28515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0052094473503530025,"velocity_rad_s":-0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.60199373960495,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-19.51171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.304681658744812,"velocity_rad_s":0.004197304602712393,"acceleration_raw":0.0,"estimated_torque_nm":-4.42490816116333,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004804745316505432,"velocity_rad_s":0.007387419696897268,"acceleration_raw":0.0,"estimated_torque_nm":0.8529148101806641,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004968393128365278,"velocity_rad_s":0.21084201335906982,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.008004549890756607,"velocity_rad_s":-0.13615430891513824,"acceleration_raw":0.0,"estimated_torque_nm":-0.583915114402771,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037985313683748245,"velocity_rad_s":-0.10542385280132294,"acceleration_raw":0.0,"estimated_torque_nm":1.518029808998108,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2884962558746338,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9801298379898071,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020852552726864815,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21521271765232086,"velocity_rad_s":-0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8298956155776978,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.002612560987472534,"velocity_rad_s":-0.4417864978313446,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788287195392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810365,"imu":{"quaternion":[0.9908318519592285,-0.001027576858177781,0.013104227371513844,0.1344604790210724],"gyroscope":[-0.004261057358235121,0.13422329723834991,0.08309061825275421],"accelerometer":[0.166995570063591,0.2576759457588196,10.302549362182617],"rpy":[0.00148820283357054,0.026247521862387657,0.2697809338569641],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3474551737308502,"velocity_rad_s":-0.17344209551811218,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011871307156980038,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004097919911146164,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6362696886062622,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-12.041015625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3158358335494995,"velocity_rad_s":0.03462406247854233,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007195150014013052,"velocity_rad_s":0.04578365013003349,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3497220575809479,"velocity_rad_s":-0.0970839411020279,"acceleration_raw":0.0,"estimated_torque_nm":-3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012203669175505638,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005249623209238052,"velocity_rad_s":-0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020022630691528,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-19.51171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.304681658744812,"velocity_rad_s":0.0005246630753390491,"acceleration_raw":0.0,"estimated_torque_nm":-4.42490816116333,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004804745316505432,"velocity_rad_s":0.0009234274621121585,"acceleration_raw":0.0,"estimated_torque_nm":0.8529148101806641,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005115704145282507,"velocity_rad_s":0.20912784337997437,"acceleration_raw":0.0,"estimated_torque_nm":-1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007829791866242886,"velocity_rad_s":-0.14005185663700104,"acceleration_raw":0.0,"estimated_torque_nm":-0.5350126028060913,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038107797503471375,"velocity_rad_s":-0.0965653583407402,"acceleration_raw":0.0,"estimated_torque_nm":1.4421406984329224,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2885441780090332,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9801538586616516,"velocity_rad_s":0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020912472158670425,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21488913893699646,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.829871654510498,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0029361352790147066,"velocity_rad_s":-0.45405831933021545,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788290652224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810366,"imu":{"quaternion":[0.9908252358436584,-0.001033305423334241,0.013159223832190037,0.13450387120246887],"gyroscope":[-0.0010652643395587802,0.12250539660453796,0.08628641068935394],"accelerometer":[0.21547815203666687,0.2882020175457001,10.27202320098877],"rpy":[0.0014928017044439912,0.026357999071478844,0.2698688507080078],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3475574254989624,"velocity_rad_s":-0.1592613011598587,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011854262091219425,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003977392800152302,"velocity_rad_s":-0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6362526416778564,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31582340598106384,"velocity_rad_s":0.028203705325722694,"acceleration_raw":0.0,"estimated_torque_nm":0.3620615601539612,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007202504202723503,"velocity_rad_s":0.030873797833919525,"acceleration_raw":0.0,"estimated_torque_nm":-0.0015823801513761282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34979021549224854,"velocity_rad_s":-0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012203669175505638,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005396933760493994,"velocity_rad_s":-0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.60199373960495,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-18.896484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30466514825820923,"velocity_rad_s":0.007913174107670784,"acceleration_raw":0.0,"estimated_torque_nm":-3.700610876083374,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004819089081138372,"velocity_rad_s":0.00643198611214757,"acceleration_raw":0.0,"estimated_torque_nm":0.9605107307434082,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005263015162199736,"velocity_rad_s":0.2348402887582779,"acceleration_raw":0.0,"estimated_torque_nm":-1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007731011137366295,"velocity_rad_s":-0.14978112280368805,"acceleration_raw":0.0,"estimated_torque_nm":-0.5357414484024048,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03817145153880119,"velocity_rad_s":-0.0977814793586731,"acceleration_raw":0.0,"estimated_torque_nm":1.2903006076812744,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28858014941215515,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9802257418632507,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02094842493534088,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21472136676311493,"velocity_rad_s":-0.21168935298919678,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8298117518424988,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0032597093377262354,"velocity_rad_s":-0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788291332672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810367,"imu":{"quaternion":[0.9908186197280884,-0.0010408099042251706,0.013207749463617802,0.13454730808734894],"gyroscope":[-0.0063915858045220375,0.11078748852014542,0.08628641068935394],"accelerometer":[0.23523031175136566,0.19482816755771637,10.338461875915527],"rpy":[0.0014921490801498294,0.026456130668520927,0.2699567675590515],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34766823053359985,"velocity_rad_s":-0.16035212576389313,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011862784624099731,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003923825453966856,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6362355947494507,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31575265526771545,"velocity_rad_s":0.04099571704864502,"acceleration_raw":0.0,"estimated_torque_nm":0.5430923104286194,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007297398988157511,"velocity_rad_s":0.04955005645751953,"acceleration_raw":0.0,"estimated_torque_nm":-0.002373570343479514,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3498498797416687,"velocity_rad_s":-0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012220713309943676,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00546389352530241,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020362973213196,"velocity_rad_s":0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-18.80859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30461931228637695,"velocity_rad_s":0.024994179606437683,"acceleration_raw":0.0,"estimated_torque_nm":-3.4289019107818604,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004768041893839836,"velocity_rad_s":-0.014099463820457458,"acceleration_raw":0.0,"estimated_torque_nm":1.0137817859649658,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005396933760493994,"velocity_rad_s":0.21427033841609955,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0076398286037147045,"velocity_rad_s":-0.14686566591262817,"acceleration_raw":0.0,"estimated_torque_nm":-0.43793633580207825,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038230206817388535,"velocity_rad_s":-0.09211275726556778,"acceleration_raw":0.0,"estimated_torque_nm":1.1385223865509033,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28860411047935486,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9802736639976501,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02105628326535225,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21456557512283325,"velocity_rad_s":-0.2070874124765396,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8297997117042542,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058710720390081406,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.003595267655327916,"velocity_rad_s":-0.42337870597839355,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788294185536,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810368,"imu":{"quaternion":[0.9908118844032288,-0.0010483802761882544,0.013253288343548775,0.13459236919879913],"gyroscope":[-0.0074568502604961395,0.10546116530895233,0.08948220312595367],"accelerometer":[0.23523031175136566,0.19482816755771637,10.338461875915527],"rpy":[0.0014906135620549321,0.02654835768043995,0.27004796266555786],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3477363884449005,"velocity_rad_s":-0.12217305600643158,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011854262091219425,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0038702578749507666,"velocity_rad_s":-0.0857081338763237,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.636210024356842,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31564101576805115,"velocity_rad_s":0.07430079579353333,"acceleration_raw":0.0,"estimated_torque_nm":0.6331859827041626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00727655366063118,"velocity_rad_s":0.03589332103729248,"acceleration_raw":0.0,"estimated_torque_nm":0.048854295164346695,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3498584032058716,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012220713309943676,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0055442447774112225,"velocity_rad_s":-0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020107269287109,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30451643466949463,"velocity_rad_s":0.052406344562768936,"acceleration_raw":0.0,"estimated_torque_nm":-3.4289019107818604,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004875946324318647,"velocity_rad_s":0.011660488322377205,"acceleration_raw":0.0,"estimated_torque_nm":1.0137817859649658,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005664771888405085,"velocity_rad_s":0.23141197860240936,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007548640016466379,"velocity_rad_s":-0.1429736465215683,"acceleration_raw":0.0,"estimated_torque_nm":-0.3883049190044403,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03827910125255585,"velocity_rad_s":-0.09213143587112427,"acceleration_raw":0.0,"estimated_torque_nm":1.2144732475280762,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28860411047935486,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005285043269395828,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9803215861320496,"velocity_rad_s":0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021104220300912857,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21436183154582977,"velocity_rad_s":-0.21935926377773285,"acceleration_raw":0.0,"estimated_torque_nm":0.75,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03646799921989441,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8297757506370544,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.004206463228911161,"velocity_rad_s":-0.39883503317832947,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788296154688,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810369,"imu":{"quaternion":[0.9908051490783691,-0.0010545507539063692,0.013296534307301044,0.13463790714740753],"gyroscope":[-0.0053263213485479355,0.10120011121034622,0.09054746478796005],"accelerometer":[0.30526071786880493,0.16968904435634613,10.298957824707031],"rpy":[0.001491256058216095,0.02663566544651985,0.2701401114463806],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34785571694374084,"velocity_rad_s":-0.12544554471969604,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011862784624099731,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003816690295934677,"velocity_rad_s":-0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6362270712852478,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31554171442985535,"velocity_rad_s":0.09332647174596786,"acceleration_raw":0.0,"estimated_torque_nm":0.6331859827041626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007277347147464752,"velocity_rad_s":0.026762885972857475,"acceleration_raw":0.0,"estimated_torque_nm":0.048854295164346695,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34992659091949463,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012229235842823982,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005624596029520035,"velocity_rad_s":-0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020192503929138,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.304454505443573,"velocity_rad_s":0.06355395168066025,"acceleration_raw":0.0,"estimated_torque_nm":-3.338852643966675,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004911693744361401,"velocity_rad_s":0.008794186636805534,"acceleration_raw":0.0,"estimated_torque_nm":0.9626184701919556,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005812082905322313,"velocity_rad_s":0.2348402887582779,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007472654804587364,"velocity_rad_s":-0.14297917485237122,"acceleration_raw":0.0,"estimated_torque_nm":-0.3883049190044403,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03832806274294853,"velocity_rad_s":-0.08329162746667862,"acceleration_raw":0.0,"estimated_torque_nm":1.2144732475280762,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2886640429496765,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005309011787176132,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9803935289382935,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021140173077583313,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21409818530082703,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8297637701034546,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.004518053028732538,"velocity_rad_s":-0.4111068546772003,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788299175808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810370,"imu":{"quaternion":[0.99079829454422,-0.0010592929320409894,0.013337424956262112,0.13468444347381592],"gyroscope":[-0.0031957929022610188,0.09693904966115952,0.0926779955625534],"accelerometer":[0.4076128304004669,0.176871657371521,10.285490036010742],"rpy":[0.001494129654020071,0.026717916131019592,0.2702343165874481],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34789830446243286,"velocity_rad_s":-0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0037095551379024982,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6361929774284363,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-11.865234375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3154258131980896,"velocity_rad_s":0.11126856505870819,"acceleration_raw":0.0,"estimated_torque_nm":0.6331859827041626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007292816415429115,"velocity_rad_s":0.012052053585648537,"acceleration_raw":0.0,"estimated_torque_nm":0.048854295164346695,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34995216131210327,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012229235842823982,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005745123140513897,"velocity_rad_s":-0.11999139189720154,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020107269287109,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3044009804725647,"velocity_rad_s":0.0740688294172287,"acceleration_raw":0.0,"estimated_torque_nm":-3.338852643966675,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004962026607245207,"velocity_rad_s":0.023553019389510155,"acceleration_raw":0.0,"estimated_torque_nm":0.9626184701919556,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005946001503616571,"velocity_rad_s":0.2022712081670761,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0073662688955664635,"velocity_rad_s":-0.12644797563552856,"acceleration_raw":0.0,"estimated_torque_nm":-0.4875677824020386,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0383867472410202,"velocity_rad_s":-0.06758564710617065,"acceleration_raw":0.0,"estimated_torque_nm":1.0625715255737305,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2886880040168762,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005273059010505676,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9804414510726929,"velocity_rad_s":0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02118811011314392,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21391841769218445,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8297158479690552,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.004817658569663763,"velocity_rad_s":-0.4049709439277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.3687500059604645,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788299815840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810371,"imu":{"quaternion":[0.99079829454422,-0.0010592929320409894,0.013337424956262112,0.13468444347381592],"gyroscope":[-0.0031957929022610188,0.09693904966115952,0.0926779955625534],"accelerometer":[0.4076128304004669,0.176871657371521,10.285490036010742],"rpy":[0.001494129654020071,0.026717916131019592,0.2702343165874481],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3479323983192444,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0036425956059247255,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6361503601074219,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-11.865234375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.315214067697525,"velocity_rad_s":0.13838055729866028,"acceleration_raw":0.0,"estimated_torque_nm":0.6331859827041626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0074613867327570915,"velocity_rad_s":0.03548823669552803,"acceleration_raw":0.0,"estimated_torque_nm":0.048854295164346695,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3499777019023895,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012229235842823982,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00579869095236063,"velocity_rad_s":-0.09770727157592773,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020022630691528,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3043556213378906,"velocity_rad_s":0.06704287230968475,"acceleration_raw":0.0,"estimated_torque_nm":-3.2480227947235107,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.004997899290174246,"velocity_rad_s":0.04679073765873909,"acceleration_raw":0.0,"estimated_torque_nm":1.0148357152938843,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00605313666164875,"velocity_rad_s":0.17484459280967712,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007313067093491554,"velocity_rad_s":-0.11866570264101028,"acceleration_raw":0.0,"estimated_torque_nm":-0.43866002559661865,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0384012833237648,"velocity_rad_s":-0.06250165402889252,"acceleration_raw":0.0,"estimated_torque_nm":0.987768292427063,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2887119650840759,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005273059010505676,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9805493354797363,"velocity_rad_s":0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02123604714870453,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21378658711910248,"velocity_rad_s":-0.21629129350185394,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17888852953910828,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8296559453010559,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.005081311333924532,"velocity_rad_s":-0.38656318187713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788302033280,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810371,"imu":{"quaternion":[0.9907841682434082,-0.0010724333114922047,0.013406611979007721,0.13478142023086548],"gyroscope":[-0.012783171609044075,0.08415587991476059,0.09693904966115952],"accelerometer":[0.5135562419891357,0.33039984107017517,10.3734769821167],"rpy":[0.001489361864514649,0.026858435943722725,0.27043038606643677],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34794944524765015,"velocity_rad_s":-0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011828696355223656,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003589028026908636,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.636141836643219,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-11.77734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31500768661499023,"velocity_rad_s":0.16054336726665497,"acceleration_raw":0.0,"estimated_torque_nm":0.6331859827041626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0073470170609653,"velocity_rad_s":0.01709754578769207,"acceleration_raw":0.0,"estimated_torque_nm":0.048854295164346695,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3499947488307953,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01224627997726202,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005879042204469442,"velocity_rad_s":-0.11999139189720154,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6020107269287109,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30428585410118103,"velocity_rad_s":0.06801655143499374,"acceleration_raw":0.0,"estimated_torque_nm":-3.2480227947235107,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005106053315103054,"velocity_rad_s":0.061621591448783875,"acceleration_raw":0.0,"estimated_torque_nm":1.0148357152938843,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.006334366742521524,"velocity_rad_s":0.2074136734008789,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007259858772158623,"velocity_rad_s":-0.10894793272018433,"acceleration_raw":0.0,"estimated_torque_nm":-0.48829185962677,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03840595483779907,"velocity_rad_s":-0.04362691566348076,"acceleration_raw":0.0,"estimated_torque_nm":0.911732017993927,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28873592615127563,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005273059010505676,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.980573296546936,"velocity_rad_s":0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02129596844315529,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21364277601242065,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8296200037002563,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.005620601586997509,"velocity_rad_s":-0.35588356852531433,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788303971840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810372,"imu":{"quaternion":[0.9907767176628113,-0.0010816005524247885,0.013436929322779179,0.13483284413814545],"gyroscope":[-0.015978964045643806,0.07989482581615448,0.1022653728723526],"accelerometer":[0.6248866319656372,0.3770867586135864,10.321403503417969],"rpy":[0.001480766455642879,0.02692091464996338,0.2705342173576355],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34799206256866455,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0035086767747998238,"velocity_rad_s":-0.0857081338763237,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6360992193222046,"velocity_rad_s":-0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3148461580276489,"velocity_rad_s":0.1759307086467743,"acceleration_raw":0.0,"estimated_torque_nm":0.6331859827041626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007384598255157471,"velocity_rad_s":0.023723356425762177,"acceleration_raw":0.0,"estimated_torque_nm":0.048854295164346695,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3500714600086212,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012237757444381714,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.005946001503616571,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.60199373960495,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30426546931266785,"velocity_rad_s":0.05740441009402275,"acceleration_raw":0.0,"estimated_torque_nm":-3.2480227947235107,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005156600382179022,"velocity_rad_s":0.06355646252632141,"acceleration_raw":0.0,"estimated_torque_nm":1.0148357152938843,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.006454893853515387,"velocity_rad_s":0.21255618333816528,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007191441021859646,"velocity_rad_s":-0.1157667487859726,"acceleration_raw":0.0,"estimated_torque_nm":-0.439389705657959,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03840069845318794,"velocity_rad_s":-0.0316106416285038,"acceleration_raw":0.0,"estimated_torque_nm":0.835759699344635,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28878387808799744,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20368389785289764,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005273059010505676,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9806331992149353,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021331921219825745,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21334317326545715,"velocity_rad_s":-0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":0.8125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17887654900550842,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8295600414276123,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.005848302040249109,"velocity_rad_s":-0.3374757766723633,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788305997408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810373,"imu":{"quaternion":[0.9907690286636353,-0.0010902552166953683,0.013465313240885735,0.13488641381263733],"gyroscope":[-0.015978964045643806,0.07669903337955475,0.1065264344215393],"accelerometer":[0.5692214369773865,0.4192845821380615,10.271124839782715],"rpy":[0.0014727298403158784,0.02697942405939102,0.27064239978790283],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34800058603286743,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0033881496638059616,"velocity_rad_s":-0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6360651254653931,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3146931529045105,"velocity_rad_s":0.18490581214427948,"acceleration_raw":0.0,"estimated_torque_nm":0.6331859827041626,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0073640733025968075,"velocity_rad_s":0.01729658432304859,"acceleration_raw":0.0,"estimated_torque_nm":0.048854295164346695,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35010555386543274,"velocity_rad_s":-0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012229235842823982,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006066528614610434,"velocity_rad_s":-0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019852161407471,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3042490482330322,"velocity_rad_s":0.04578617587685585,"acceleration_raw":0.0,"estimated_torque_nm":-3.2480227947235107,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005185466725379229,"velocity_rad_s":0.05622505396604538,"acceleration_raw":0.0,"estimated_torque_nm":1.0148357152938843,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.006588812451809645,"velocity_rad_s":0.17655876278877258,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007077432703226805,"velocity_rad_s":-0.11382810771465302,"acceleration_raw":0.0,"estimated_torque_nm":-0.4401193857192993,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038424789905548096,"velocity_rad_s":-0.02026711218059063,"acceleration_raw":0.0,"estimated_torque_nm":0.6837510466575623,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2887958586215973,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20368389785289764,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005261074751615524,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9806931018829346,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021391842514276505,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21319936215877533,"velocity_rad_s":-0.200951486825943,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8295121192932129,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.006087986286729574,"velocity_rad_s":-0.33133986592292786,"acceleration_raw":0.0,"estimated_torque_nm":-0.3687500059604645,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.03750000149011612,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788293944512,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":39680,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":31232,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":27392,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":27392,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":41728,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0}],"touch_metric":0.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":788307766016,"stream":"brainco.motor","data":{"currents":[9,-101,18,1,-17,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [9, -101, 18, 1, -17, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":788308922368,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":0.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.0}} +{"timestamp_monotonic_ns":788309431904,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810374,"imu":{"quaternion":[0.9907690286636353,-0.0010902552166953683,0.013465313240885735,0.13488641381263733],"gyroscope":[-0.015978964045643806,0.07669903337955475,0.1065264344215393],"accelerometer":[0.5692214369773865,0.4192845821380615,10.271124839782715],"rpy":[0.0014727298403158784,0.02697942405939102,0.27064239978790283],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3480091094970703,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011811652220785618,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0032944062259048223,"velocity_rad_s":-0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6360310316085815,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-11.77734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3144453465938568,"velocity_rad_s":0.19732411205768585,"acceleration_raw":0.0,"estimated_torque_nm":0.7271308898925781,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007568799424916506,"velocity_rad_s":0.03660246729850769,"acceleration_raw":0.0,"estimated_torque_nm":-0.0014545267913490534,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35013964772224426,"velocity_rad_s":-0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012237757444381714,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006160271819680929,"velocity_rad_s":-0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019766926765442,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3042367696762085,"velocity_rad_s":0.0421135351061821,"acceleration_raw":0.0,"estimated_torque_nm":-3.2480227947235107,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005207102745771408,"velocity_rad_s":0.04976106062531471,"acceleration_raw":0.0,"estimated_torque_nm":1.0148357152938843,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.006695947609841824,"velocity_rad_s":0.1851295679807663,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00700902147218585,"velocity_rad_s":-0.11772176623344421,"acceleration_raw":0.0,"estimated_torque_nm":-0.4401193857192993,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0384293869137764,"velocity_rad_s":-0.017725570127367973,"acceleration_raw":0.0,"estimated_torque_nm":0.6837510466575623,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.288819819688797,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036958783864975,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005273059010505676,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9807890057563782,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021439779549837112,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21306754648685455,"velocity_rad_s":-0.1871456652879715,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8293922543525696,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.00635163951665163,"velocity_rad_s":-0.32520392537117004,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788311317696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810375,"imu":{"quaternion":[0.9907531142234802,-0.0011061738478019834,0.013513392768800259,0.13499775528907776],"gyroscope":[-0.017044229432940483,0.06817691773176193,0.11078748852014542],"accelerometer":[0.7254431247711182,0.44532153010368347,9.939827919006348],"rpy":[0.0014571999199688435,0.027078844606876373,0.27086716890335083],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34799206256866455,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011811652220785618,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0032274469267576933,"velocity_rad_s":-0.08913645893335342,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6359798908233643,"velocity_rad_s":-0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-11.77734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3142147362232208,"velocity_rad_s":0.2068287432193756,"acceleration_raw":0.0,"estimated_torque_nm":0.7271308898925781,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00749788386747241,"velocity_rad_s":0.04223441705107689,"acceleration_raw":0.0,"estimated_torque_nm":-0.0014545267913490534,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35019075870513916,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012229235842823982,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006240623537451029,"velocity_rad_s":-0.1302763670682907,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019511222839355,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3042285442352295,"velocity_rad_s":0.0273689366877079,"acceleration_raw":0.0,"estimated_torque_nm":-3.2480227947235107,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00522154476493597,"velocity_rad_s":0.033179379999637604,"acceleration_raw":0.0,"estimated_torque_nm":1.0148357152938843,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.006950393784791231,"velocity_rad_s":0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0069406162947416306,"velocity_rad_s":-0.11772503703832626,"acceleration_raw":0.0,"estimated_torque_nm":-0.4401193857192993,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03844384104013443,"velocity_rad_s":-0.012679852545261383,"acceleration_raw":0.0,"estimated_torque_nm":0.6837510466575623,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28883180022239685,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036719024181366,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005261074751615524,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.980800986289978,"velocity_rad_s":0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02154763787984848,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21291173994541168,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17886456847190857,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8293323516845703,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.006747118663042784,"velocity_rad_s":-0.3190680146217346,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788313191744,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810376,"imu":{"quaternion":[0.9907452464103699,-0.001114359125494957,0.013535143807530403,0.13505342602729797],"gyroscope":[-0.01810949295759201,0.06604638695716858,0.11078748852014542],"accelerometer":[0.7254431247711182,0.44532153010368347,9.939827919006348],"rpy":[0.0014483764534816146,0.027124080806970596,0.27097955346107483],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34799206256866455,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01182017382234335,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0031604873947799206,"velocity_rad_s":-0.0857081338763237,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6359713673591614,"velocity_rad_s":-0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3140580356121063,"velocity_rad_s":0.21527110040187836,"acceleration_raw":0.0,"estimated_torque_nm":0.7271308898925781,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.007556942757219076,"velocity_rad_s":0.04414762184023857,"acceleration_raw":0.0,"estimated_torque_nm":-0.0014545267913490534,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3502674698829651,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01224627997726202,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.006307582836598158,"velocity_rad_s":-0.14570382237434387,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6019425988197327,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3042285442352295,"velocity_rad_s":0.018941905349493027,"acceleration_raw":0.0,"estimated_torque_nm":-3.338852643966675,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00522154476493597,"velocity_rad_s":0.023969106376171112,"acceleration_raw":0.0,"estimated_torque_nm":0.9626184701919556,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007070920895785093,"velocity_rad_s":0.17655876278877258,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006818977650254965,"velocity_rad_s":-0.12842686474323273,"acceleration_raw":0.0,"estimated_torque_nm":-0.3415853977203369,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03842354938387871,"velocity_rad_s":-0.014520618133246899,"acceleration_raw":0.0,"estimated_torque_nm":0.6838150024414062,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2888917326927185,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20368389785289764,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005261074751615524,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.980884850025177,"velocity_rad_s":0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02160755731165409,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21264809370040894,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":0.875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8292604684829712,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.006938866339623928,"velocity_rad_s":-0.2761165499687195,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788315055840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810398,"imu":{"quaternion":[0.9905672669410706,-0.001149923074990511,0.014072522521018982,0.1362985521554947],"gyroscope":[-0.0031957929022610188,0.10333064198493958,0.10120011121034622],"accelerometer":[0.5773018598556519,0.7209540009498596,10.224438667297363],"rpy":[0.0015585962682962418,0.02819676324725151,0.27349767088890076],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34826478362083435,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011743474751710892,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0017007706919685006,"velocity_rad_s":-0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6344629526138306,"velocity_rad_s":-0.11671890318393707,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31096112728118896,"velocity_rad_s":0.042744822800159454,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01293504424393177,"velocity_rad_s":0.012353332713246346,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35129863023757935,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-3.076171875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012169580906629562,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00839671865105629,"velocity_rad_s":-0.10456392168998718,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6008517742156982,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-18.984375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30416715145111084,"velocity_rad_s":0.004175690468400717,"acceleration_raw":0.0,"estimated_torque_nm":-3.42812180519104,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0053442479111254215,"velocity_rad_s":0.011097133159637451,"acceleration_raw":0.0,"estimated_torque_nm":1.1171623468399048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009802867658436298,"velocity_rad_s":0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004865292459726334,"velocity_rad_s":-0.11870290338993073,"acceleration_raw":0.0,"estimated_torque_nm":-0.09559450298547745,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03843260556459427,"velocity_rad_s":-0.026177791878581047,"acceleration_raw":0.0,"estimated_torque_nm":1.0634065866470337,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2916601002216339,"velocity_rad_s":0.22242721915245056,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037198394536972,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9818435907363892,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022110896185040474,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21117402613162994,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8258808851242065,"velocity_rad_s":-0.18561168015003204,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.011205250397324562,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788316668352,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810399,"imu":{"quaternion":[0.9905519485473633,-0.0011535403318703175,0.014144016429781914,0.13640178740024567],"gyroscope":[-0.0021305286791175604,0.0926779955625534,0.10759169608354568],"accelerometer":[0.6518214344978333,0.333991140127182,9.929951667785645],"rpy":[0.0015738875372335315,0.028339248150587082,0.27370673418045044],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3482818007469177,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01176051888614893,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0016338112764060497,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6344032883644104,"velocity_rad_s":-0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3109736740589142,"velocity_rad_s":0.029487034305930138,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012840715236961842,"velocity_rad_s":-0.023923926055431366,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35134977102279663,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-3.251953125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012169580906629562,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008463677950203419,"velocity_rad_s":-0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.600800633430481,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-18.984375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30416297912597656,"velocity_rad_s":0.005803714506328106,"acceleration_raw":0.0,"estimated_torque_nm":-3.42812180519104,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0053369733504951,"velocity_rad_s":0.00459313252940774,"acceleration_raw":0.0,"estimated_torque_nm":1.1171623468399048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00999035406857729,"velocity_rad_s":0.17313042283058167,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00481207761913538,"velocity_rad_s":-0.1196797788143158,"acceleration_raw":0.0,"estimated_torque_nm":-0.09559450298547745,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038427527993917465,"velocity_rad_s":-0.014184540137648582,"acceleration_raw":0.0,"estimated_torque_nm":1.0634065866470337,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2919117510318756,"velocity_rad_s":0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20373183488845825,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.0051891696639359,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9818915128707886,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022134864702820778,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21119800209999084,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.825761079788208,"velocity_rad_s":-0.1902136206626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.011349061504006386,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788318815648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810400,"imu":{"quaternion":[0.9905436038970947,-0.001154271769337356,0.014174235984683037,0.13645943999290466],"gyroscope":[-0.0031957929022610188,0.08415587991476059,0.11504854261875153],"accelerometer":[0.6518214344978333,0.333991140127182,9.929951667785645],"rpy":[0.0015823421999812126,0.028399236500263214,0.27382341027259827],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.348332941532135,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011743474751710892,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0015802436973899603,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6343351602554321,"velocity_rad_s":-0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":-11.689453125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31099042296409607,"velocity_rad_s":0.018312925472855568,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012710104696452618,"velocity_rad_s":-0.07317721098661423,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3513753414154053,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-3.251953125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012144014239311218,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008503853343427181,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6007494926452637,"velocity_rad_s":-0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-18.896484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30415886640548706,"velocity_rad_s":0.0042405324056744576,"acceleration_raw":0.0,"estimated_torque_nm":-3.42812180519104,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005344185512512922,"velocity_rad_s":-3.200667561031878e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.1171623468399048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010043921880424023,"velocity_rad_s":0.14570382237434387,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0047208573669195175,"velocity_rad_s":-0.11384433507919312,"acceleration_raw":0.0,"estimated_torque_nm":-0.14506910741329193,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0384371392428875,"velocity_rad_s":-0.005365499295294285,"acceleration_raw":0.0,"estimated_torque_nm":0.9874310493469238,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29205557703971863,"velocity_rad_s":0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036958783864975,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9819155335426331,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022122880443930626,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.211186021566391,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8256531953811646,"velocity_rad_s":-0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01152882445603609,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788320707264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810401,"imu":{"quaternion":[0.9905436038970947,-0.001154271769337356,0.014174235984683037,0.13645943999290466],"gyroscope":[-0.0031957929022610188,0.08415587991476059,0.11504854261875153],"accelerometer":[0.6518214344978333,0.333991140127182,9.929951667785645],"rpy":[0.0015823421999812126,0.028399236500263214,0.27382341027259827],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483414649963379,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011751997284591198,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0014998923288658261,"velocity_rad_s":-0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6342328786849976,"velocity_rad_s":-0.11999139189720154,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110235631465912,"velocity_rad_s":0.002978883683681488,"acceleration_raw":0.0,"estimated_torque_nm":0.45621535181999207,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012622900307178497,"velocity_rad_s":-0.0927669107913971,"acceleration_raw":0.0,"estimated_torque_nm":-0.259225457906723,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3513668179512024,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012161058373749256,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008624380454421043,"velocity_rad_s":-0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6006386876106262,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-18.80859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3041546940803528,"velocity_rad_s":0.006382412742823362,"acceleration_raw":0.0,"estimated_torque_nm":-3.246462106704712,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005336910951882601,"velocity_rad_s":-0.0037577233742922544,"acceleration_raw":0.0,"estimated_torque_nm":1.2215967178344727,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010110881179571152,"velocity_rad_s":0.11999139189720154,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004660048522055149,"velocity_rad_s":-0.10800284892320633,"acceleration_raw":0.0,"estimated_torque_nm":-0.145488440990448,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038456689566373825,"velocity_rad_s":-0.015478936024010181,"acceleration_raw":0.0,"estimated_torque_nm":0.835511326789856,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2921873927116394,"velocity_rad_s":0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20370785892009735,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9819754362106323,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022134864702820778,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.211186021566391,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254614472389221,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.011720572598278522,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-0.3687500059604645,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788322306048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810402,"imu":{"quaternion":[0.9905350804328918,-0.001153421588242054,0.014203990809619427,0.13651812076568604],"gyroscope":[-0.0,0.08309061825275421,0.11717907339334488],"accelerometer":[0.6401496529579163,0.27563247084617615,9.99100399017334],"rpy":[0.001593841123394668,0.028457870706915855,0.2739422023296356],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34834998846054077,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011751997284591198,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0014597165863960981,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.634198784828186,"velocity_rad_s":-0.11671890318393707,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110775947570801,"velocity_rad_s":-0.011863005347549915,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01238331664353609,"velocity_rad_s":-0.1299828290939331,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35138386487960815,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012144014239311218,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00866455677896738,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6005875468254089,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-18.80859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30413419008255005,"velocity_rad_s":0.011115186847746372,"acceleration_raw":0.0,"estimated_torque_nm":-3.0655829906463623,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005372971296310425,"velocity_rad_s":0.002698266878724098,"acceleration_raw":0.0,"estimated_torque_nm":1.2226505279541016,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01017784047871828,"velocity_rad_s":0.12341972440481186,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004584035370498896,"velocity_rad_s":-0.10994772613048553,"acceleration_raw":0.0,"estimated_torque_nm":-0.19454370439052582,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03847620263695717,"velocity_rad_s":-0.019260061904788017,"acceleration_raw":0.0,"estimated_torque_nm":0.911455512046814,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2923312187194824,"velocity_rad_s":0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20370785892009735,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9820113778114319,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022134864702820778,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.211186021566391,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253775835037231,"velocity_rad_s":-0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.012080099433660507,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-0.3687500059604645,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788324187296,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810403,"imu":{"quaternion":[0.9905185103416443,-0.001154738594777882,0.014262082055211067,0.13663235306739807],"gyroscope":[-0.0010652643395587802,0.08415587991476059,0.11291801929473877],"accelerometer":[0.48303020000457764,0.23792380094528198,9.947908401489258],"rpy":[0.0016104017850011587,0.02857314795255661,0.27417343854904175],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34834998846054077,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0014061490073800087,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6341561675071716,"velocity_rad_s":-0.09926560521125793,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110983967781067,"velocity_rad_s":-0.02240018919110298,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012288931757211685,"velocity_rad_s":-0.12448733299970627,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3513582944869995,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01212697010487318,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008704732172191143,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6005534529685974,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30410969257354736,"velocity_rad_s":0.018952712416648865,"acceleration_raw":0.0,"estimated_torque_nm":-3.0655829906463623,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0054307482205331326,"velocity_rad_s":0.02211424894630909,"acceleration_raw":0.0,"estimated_torque_nm":1.2226505279541016,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010311760008335114,"velocity_rad_s":0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004546042997390032,"velocity_rad_s":-0.10896844416856766,"acceleration_raw":0.0,"estimated_torque_nm":-0.14506910741329193,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03853033110499382,"velocity_rad_s":-0.03882630541920662,"acceleration_raw":0.0,"estimated_torque_nm":0.9874310493469238,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29261884093284607,"velocity_rad_s":0.21629129350185394,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037198394536972,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9820473194122314,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02214684896171093,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.211186021566391,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8252696990966797,"velocity_rad_s":-0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01224787812680006,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788326051712,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810404,"imu":{"quaternion":[0.9905185103416443,-0.001154738594777882,0.014262082055211067,0.13663235306739807],"gyroscope":[-0.0010652643395587802,0.08415587991476059,0.11291801929473877],"accelerometer":[0.48303020000457764,0.23792380094528198,9.947908401489258],"rpy":[0.0016104017850011587,0.02857314795255661,0.27417343854904175],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34836703538894653,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011777563951909542,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.001379365217871964,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6341135501861572,"velocity_rad_s":-0.09381145238876343,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311115026473999,"velocity_rad_s":-0.020812373608350754,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012216332368552685,"velocity_rad_s":-0.12169291079044342,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35133272409439087,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012135492637753487,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00873151607811451,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6004768013954163,"velocity_rad_s":-0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3040851056575775,"velocity_rad_s":0.02628718875348568,"acceleration_raw":0.0,"estimated_torque_nm":-3.0655829906463623,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0054740384221076965,"velocity_rad_s":0.03689708933234215,"acceleration_raw":0.0,"estimated_torque_nm":1.2226505279541016,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010392110794782639,"velocity_rad_s":0.10113560408353806,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0043864259496331215,"velocity_rad_s":-0.1294010728597641,"acceleration_raw":0.0,"estimated_torque_nm":-0.14577896893024445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038603875786066055,"velocity_rad_s":-0.045804981142282486,"acceleration_raw":0.0,"estimated_torque_nm":0.9874308109283447,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2927865982055664,"velocity_rad_s":0.22242721915245056,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036958783864975,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9820592999458313,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022122880443930626,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21119800209999084,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17881663143634796,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8252097964286804,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01242764201015234,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-0.3687500059604645,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788328207840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810405,"imu":{"quaternion":[0.9905107021331787,-0.0011565715540200472,0.014292134903371334,0.1366858035326004],"gyroscope":[-0.004261057358235121,0.08415587991476059,0.1065264344215393],"accelerometer":[0.4390367269515991,0.2810194194316864,9.96676254272461],"rpy":[0.0016165340784937143,0.028633112087845802,0.2742816209793091],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34836703538894653,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.001312405802309513,"velocity_rad_s":-0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6339942812919617,"velocity_rad_s":-0.1025380939245224,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31111109256744385,"velocity_rad_s":-0.017133457586169243,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012122133746743202,"velocity_rad_s":-0.12816296517848969,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3513071537017822,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012135492637753487,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008785083889961243,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6004086136817932,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30405640602111816,"velocity_rad_s":0.029927408322691917,"acceleration_raw":0.0,"estimated_torque_nm":-3.0655829906463623,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005524540785700083,"velocity_rad_s":0.04892565310001373,"acceleration_raw":0.0,"estimated_torque_nm":1.2226505279541016,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010445678606629372,"velocity_rad_s":0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004325625486671925,"velocity_rad_s":-0.12453360855579376,"acceleration_raw":0.0,"estimated_torque_nm":-0.09635942429304123,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03865305706858635,"velocity_rad_s":-0.052756812423467636,"acceleration_raw":0.0,"estimated_torque_nm":1.0634063482284546,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2929304242134094,"velocity_rad_s":0.21935926377773285,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20370785892009735,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9821072816848755,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02214684896171093,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.211186021566391,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8250779509544373,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.012619389221072197,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-0.35624998807907104,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788330076512,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810406,"imu":{"quaternion":[0.9905028343200684,-0.0011583914747461677,0.014321715570986271,0.13673973083496094],"gyroscope":[-0.004261057358235121,0.08309061825275421,0.10759169608354568],"accelerometer":[0.4390367269515991,0.2810194194316864,9.96676254272461],"rpy":[0.0016225838335230947,0.028692131862044334,0.2743907570838928],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483755588531494,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0012588382232934237,"velocity_rad_s":-0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6339346170425415,"velocity_rad_s":-0.10144726186990738,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111277222633362,"velocity_rad_s":-0.016004377976059914,"acceleration_raw":0.0,"estimated_torque_nm":0.4555119276046753,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012049534358084202,"velocity_rad_s":-0.09104040265083313,"acceleration_raw":0.0,"estimated_torque_nm":-0.15589889883995056,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3513071537017822,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012144014239311218,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008825259283185005,"velocity_rad_s":-0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6003404259681702,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3040071427822113,"velocity_rad_s":0.03625578433275223,"acceleration_raw":0.0,"estimated_torque_nm":-3.0655829906463623,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005596616771072149,"velocity_rad_s":0.054442211985588074,"acceleration_raw":0.0,"estimated_torque_nm":1.2226505279541016,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010485853999853134,"velocity_rad_s":0.09770727157592773,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00426481943577528,"velocity_rad_s":-0.1274513602256775,"acceleration_raw":0.0,"estimated_torque_nm":-0.046939872205257416,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03868251293897629,"velocity_rad_s":-0.05716843903064728,"acceleration_raw":0.0,"estimated_torque_nm":1.1393818855285645,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2930622398853302,"velocity_rad_s":0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037198394536972,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005177185405045748,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9821312427520752,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02214684896171093,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.211186021566391,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.825018048286438,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.013014868833124638,"velocity_rad_s":-0.2822524905204773,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788331935264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810407,"imu":{"quaternion":[0.9904952049255371,-0.0011599836871027946,0.014349307864904404,0.1367921233177185],"gyroscope":[-0.004261057358235121,0.0788295567035675,0.10439590364694595],"accelerometer":[0.3645172119140625,0.33039984107017517,9.919178009033203],"rpy":[0.0016285014571622014,0.028747154399752617,0.27449676394462585],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483755588531494,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0012186624808236957,"velocity_rad_s":-0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6338919997215271,"velocity_rad_s":-0.09162978827953339,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111277222633362,"velocity_rad_s":-0.005951921455562115,"acceleration_raw":0.0,"estimated_torque_nm":0.4555119276046753,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012035022489726543,"velocity_rad_s":-0.07519814372062683,"acceleration_raw":0.0,"estimated_torque_nm":-0.15589889883995056,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35129863023757935,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012135492637753487,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":-0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6002637147903442,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30398672819137573,"velocity_rad_s":0.03147978335618973,"acceleration_raw":0.0,"estimated_torque_nm":-3.0655829906463623,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005647181533277035,"velocity_rad_s":0.055405646562576294,"acceleration_raw":0.0,"estimated_torque_nm":1.2226505279541016,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010619773529469967,"velocity_rad_s":0.10456392168998718,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004219213500618935,"velocity_rad_s":-0.1206418052315712,"acceleration_raw":0.0,"estimated_torque_nm":-0.046939872205257416,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038702141493558884,"velocity_rad_s":-0.051502589136362076,"acceleration_raw":0.0,"estimated_torque_nm":1.1393818855285645,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2933618426322937,"velocity_rad_s":0.21168935298919678,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036958783864975,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.982143223285675,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022158833220601082,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21119800209999084,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8249461054801941,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01318264752626419,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.03750000149011612,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788333807552,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810408,"imu":{"quaternion":[0.9904874563217163,-0.0011621767189353704,0.014376436360180378,0.13684505224227905],"gyroscope":[-0.0053263213485479355,0.07776429504156113,0.10546116530895233],"accelerometer":[0.31513679027557373,0.19213469326496124,9.740509986877441],"rpy":[0.001633123611100018,0.028801418840885162,0.27460384368896484],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483755588531494,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0011784868547692895,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6338408589363098,"velocity_rad_s":-0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111317753791809,"velocity_rad_s":-0.0048376936465501785,"acceleration_raw":0.0,"estimated_torque_nm":0.4555119276046753,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012071247212588787,"velocity_rad_s":-0.04549865797162056,"acceleration_raw":0.0,"estimated_torque_nm":-0.15589889883995056,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3513071537017822,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012135492637753487,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008905611000955105,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6002296209335327,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30395376682281494,"velocity_rad_s":0.029413551092147827,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005675922613590956,"velocity_rad_s":0.04614736884832382,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010673340409994125,"velocity_rad_s":0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004135603085160255,"velocity_rad_s":-0.0943736657500267,"acceleration_raw":0.0,"estimated_torque_nm":-0.09635942429304123,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038736484944820404,"velocity_rad_s":-0.03830346465110779,"acceleration_raw":0.0,"estimated_torque_nm":1.0634063482284546,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2935176491737366,"velocity_rad_s":0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20368389785289764,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9821671843528748,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14582405984401703,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022182801738381386,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21122196316719055,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8248981833457947,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01336241140961647,"velocity_rad_s":-0.24543693661689758,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788335392736,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810409,"imu":{"quaternion":[0.9904802441596985,-0.0011646365746855736,0.014403628185391426,0.13689479231834412],"gyroscope":[-0.0053263213485479355,0.07776429504156113,0.09906958043575287],"accelerometer":[0.36810851097106934,0.14275427162647247,9.794380187988281],"rpy":[0.0016371465753763914,0.028855890035629272,0.2747045159339905],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34835851192474365,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0011249192757532,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6337044835090637,"velocity_rad_s":-0.0818123072385788,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111317753791809,"velocity_rad_s":-0.00690281018614769,"acceleration_raw":0.0,"estimated_torque_nm":0.4555119276046753,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012085740454494953,"velocity_rad_s":-0.023243790492415428,"acceleration_raw":0.0,"estimated_torque_nm":-0.15589889883995056,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3513071537017822,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012144014239311218,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008972570300102234,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000847816467285,"velocity_rad_s":-0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3039539158344269,"velocity_rad_s":0.02466997131705284,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005704896058887243,"velocity_rad_s":0.04154623672366142,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010740300640463829,"velocity_rad_s":0.11142057180404663,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004097591619938612,"velocity_rad_s":-0.09145712852478027,"acceleration_raw":0.0,"estimated_torque_nm":-0.14577896893024445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03873147815465927,"velocity_rad_s":-0.030105343088507652,"acceleration_raw":0.0,"estimated_torque_nm":0.9874308109283447,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2936854362487793,"velocity_rad_s":0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20368389785289764,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9821552038192749,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022158833220601082,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2112099826335907,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8247783780097961,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.013554158620536327,"velocity_rad_s":-0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788340536864,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810410,"imu":{"quaternion":[0.9904730319976807,-0.0011673878179863095,0.01443181186914444,0.1369440108537674],"gyroscope":[-0.0053263213485479355,0.07989482581615448,0.09800431877374649],"accelerometer":[0.4991910457611084,0.166995570063591,9.943418502807617],"rpy":[0.0016408540541306138,0.02891240268945694,0.27480411529541016],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34834998846054077,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0010579597437754273,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6336703896522522,"velocity_rad_s":-0.0970839411020279,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111191987991333,"velocity_rad_s":5.5683220125501975e-05,"acceleration_raw":0.0,"estimated_torque_nm":0.4555119276046753,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012194563634693623,"velocity_rad_s":0.02783653512597084,"acceleration_raw":0.0,"estimated_torque_nm":-0.15589889883995056,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35129863023757935,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012152536772191525,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":-0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.6000251173973083,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30393752455711365,"velocity_rad_s":0.019948001950979233,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005733744241297245,"velocity_rad_s":0.03323538601398468,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010780476033687592,"velocity_rad_s":0.10284975916147232,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004036775324493647,"velocity_rad_s":-0.10021840780973434,"acceleration_raw":0.0,"estimated_torque_nm":-0.19519852101802826,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038731351494789124,"velocity_rad_s":-0.018096908926963806,"acceleration_raw":0.0,"estimated_torque_nm":0.9114552736282349,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2938292324542999,"velocity_rad_s":0.22549518942832947,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20368389785289764,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9821671843528748,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022182801738381386,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21122196316719055,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.824730396270752,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05872270464897156,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788342690656,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810411,"imu":{"quaternion":[0.9904659986495972,-0.001168337999843061,0.01445751916617155,0.13699212670326233],"gyroscope":[-0.0021305286791175604,0.0745685026049614,0.09587378799915314],"accelerometer":[0.4991910457611084,0.166995570063591,9.943418502807617],"rpy":[0.001647425815463066,0.028963519260287285,0.27490147948265076],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483414649963379,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011777563951909542,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0010177841177210212,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6336363554000854,"velocity_rad_s":-0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31111082434654236,"velocity_rad_s":-0.0004401778569445014,"acceleration_raw":0.0,"estimated_torque_nm":0.4555119276046753,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012252612970769405,"velocity_rad_s":0.04360698163509369,"acceleration_raw":0.0,"estimated_torque_nm":-0.15589889883995056,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35129863023757935,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012152536772191525,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00906631350517273,"velocity_rad_s":-0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5999569296836853,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-18.369140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30392932891845703,"velocity_rad_s":0.01731388084590435,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005748186260461807,"velocity_rad_s":0.03047310747206211,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010874219238758087,"velocity_rad_s":0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004006376955658197,"velocity_rad_s":-0.09924394637346268,"acceleration_raw":0.0,"estimated_torque_nm":-0.09666938334703445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038760870695114136,"velocity_rad_s":-0.022516470402479172,"acceleration_raw":0.0,"estimated_torque_nm":0.9114866852760315,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2940090000629425,"velocity_rad_s":0.22549518942832947,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036958783864975,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822031259536743,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022182801738381386,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21124593913555145,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8246824741363525,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.014117416925728321,"velocity_rad_s":-0.26384469866752625,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788344700832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810412,"imu":{"quaternion":[0.9904592037200928,-0.001166437054052949,0.014481427147984505,0.13703861832618713],"gyroscope":[0.0031957929022610188,0.07030744105577469,0.0926779955625534],"accelerometer":[0.5072714686393738,0.23523031175136566,9.935338973999023],"rpy":[0.0016591115854680538,0.029010288417339325,0.27499568462371826],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34834998846054077,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01176051888614893,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0009776083752512932,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6335766911506653,"velocity_rad_s":-0.08617563545703888,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31111887097358704,"velocity_rad_s":0.0006554875872097909,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012354031205177307,"velocity_rad_s":0.06402762234210968,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35129863023757935,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012135492637753487,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599905788898468,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3039209842681885,"velocity_rad_s":0.018438857048749924,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005733637139201164,"velocity_rad_s":0.019335966557264328,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01091439463198185,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0038999610114842653,"velocity_rad_s":-0.09437768906354904,"acceleration_raw":0.0,"estimated_torque_nm":-0.09666938334703445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03879023715853691,"velocity_rad_s":-0.025681810453534126,"acceleration_raw":0.0,"estimated_torque_nm":0.9114866852760315,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29436853528022766,"velocity_rad_s":0.23009712994098663,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20368389785289764,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822031259536743,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.6875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022170817479491234,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2112339586019516,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.6875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8246345520019531,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.0142971808090806,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788349713312,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810413,"imu":{"quaternion":[0.9904527068138123,-0.0011644805781543255,0.01450060959905386,0.13708293437957764],"gyroscope":[0.0021305286791175604,0.06072006747126579,0.0884169414639473],"accelerometer":[0.3627215623855591,0.2612672746181488,9.68933391571045],"rpy":[0.0016695515951141715,0.029047681018710136,0.2750854194164276],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483414649963379,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01176051888614893,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0009106489014811814,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6334658861160278,"velocity_rad_s":-0.09272062033414841,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111023008823395,"velocity_rad_s":0.002765150973573327,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012397642247378826,"velocity_rad_s":0.06404198706150055,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35129010677337646,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012152536772191525,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009186840616166592,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997949838638306,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3039250671863556,"velocity_rad_s":0.01475540827959776,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005726407282054424,"velocity_rad_s":0.014726830646395683,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010967962443828583,"velocity_rad_s":0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003854352282360196,"velocity_rad_s":-0.09826908260583878,"acceleration_raw":0.0,"estimated_torque_nm":-0.09666938334703445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03880000486969948,"velocity_rad_s":-0.028198199346661568,"acceleration_raw":0.0,"estimated_torque_nm":0.9114866852760315,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29457226395606995,"velocity_rad_s":0.23623305559158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20368389785289764,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.982227087020874,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022170817479491234,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21124593913555145,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8245386481285095,"velocity_rad_s":-0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.014488928020000458,"velocity_rad_s":-0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788350428384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810414,"imu":{"quaternion":[0.9904467463493347,-0.0011632756795734167,0.01451780553907156,0.1371246874332428],"gyroscope":[-0.0,0.056459009647369385,0.08309061825275421],"accelerometer":[0.18944120407104492,0.3743932843208313,9.486425399780273],"rpy":[0.0016778840217739344,0.029081353917717934,0.2751699686050415],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483414649963379,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0008704732172191143,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6334147453308105,"velocity_rad_s":-0.1079922541975975,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31107741594314575,"velocity_rad_s":0.005411512218415737,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012484809383749962,"velocity_rad_s":0.06869935989379883,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3512730896472931,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012135492637753487,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009213624522089958,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5997353792190552,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3039291799068451,"velocity_rad_s":0.009454742074012756,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005719195120036602,"velocity_rad_s":0.014766838401556015,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011021530255675316,"velocity_rad_s":0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0038011432625353336,"velocity_rad_s":-0.09145753085613251,"acceleration_raw":0.0,"estimated_torque_nm":-0.09666938334703445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03881468623876572,"velocity_rad_s":-0.02884318120777607,"acceleration_raw":0.0,"estimated_torque_nm":0.9114866852760315,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2947640120983124,"velocity_rad_s":0.2485048919916153,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036958783864975,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005201153922826052,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822390675544739,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022182801738381386,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2112339586019516,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8245146870613098,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.014824486337602139,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788351065472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810415,"imu":{"quaternion":[0.990441083908081,-0.0011619410943239927,0.014533640816807747,0.13716377317905426],"gyroscope":[-0.0,0.05326321721076965,0.07776429504156113],"accelerometer":[0.19033902883529663,0.2828150689601898,9.54209041595459],"rpy":[0.001686024945229292,0.02911229617893696,0.27524909377098083],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.348332941532135,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011777563951909542,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0008035137434490025,"velocity_rad_s":-0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6333465576171875,"velocity_rad_s":-0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110608160495758,"velocity_rad_s":0.010663396678864956,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01252842042595148,"velocity_rad_s":0.05760065093636513,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35124751925468445,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012152536772191525,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":-0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599675714969635,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3039291799068451,"velocity_rad_s":0.00633918447420001,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005719195120036602,"velocity_rad_s":0.0036617033183574677,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011155448853969574,"velocity_rad_s":0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0037479372695088387,"velocity_rad_s":-0.09924233704805374,"acceleration_raw":0.0,"estimated_torque_nm":-0.09666938334703445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038839228451251984,"velocity_rad_s":-0.027565130963921547,"acceleration_raw":0.0,"estimated_torque_nm":0.9114866852760315,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2949557602405548,"velocity_rad_s":0.2546408176422119,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036719024181366,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822510480880737,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022182801738381386,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2112339586019516,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8244667649269104,"velocity_rad_s":-0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.015004250220954418,"velocity_rad_s":-0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788353028672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810416,"imu":{"quaternion":[0.9904355406761169,-0.001160580781288445,0.014549154788255692,0.13720180094242096],"gyroscope":[-0.0,0.05219795182347298,0.07563376426696777],"accelerometer":[0.19033902883529663,0.2828150689601898,9.54209041595459],"rpy":[0.0016940998611971736,0.02914259396493435,0.27532610297203064],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.348332941532135,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0007767299539409578,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6333209872245789,"velocity_rad_s":-0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110361397266388,"velocity_rad_s":0.017491964623332024,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012514077126979828,"velocity_rad_s":0.043729063123464584,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3512134253978729,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-2.8125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012152536772191525,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":2.069424629211426,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5996245741844177,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3039209842681885,"velocity_rad_s":0.003683448303490877,"acceleration_raw":0.0,"estimated_torque_nm":-3.1564128398895264,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.005733637139201164,"velocity_rad_s":0.004609135445207357,"acceleration_raw":0.0,"estimated_torque_nm":1.1704334020614624,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011209016665816307,"velocity_rad_s":0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0036795272026211023,"velocity_rad_s":-0.08172500878572464,"acceleration_raw":0.0,"estimated_torque_nm":-0.09666938334703445,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03886374086141586,"velocity_rad_s":-0.03517385944724083,"acceleration_raw":0.0,"estimated_torque_nm":0.9114866852760315,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2953632175922394,"velocity_rad_s":0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822630286216736,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022158833220601082,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2112579196691513,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8244308233261108,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.015172028914093971,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788354639296,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810434,"imu":{"quaternion":[0.990360677242279,-0.0011812485754489899,0.014969748444855213,0.13769657909870148],"gyroscope":[0.008522114716470242,0.06711164861917496,0.01810949295759201],"accelerometer":[-0.05835866555571556,0.19303251802921295,9.691129684448242],"rpy":[0.0017836445476859808,0.029980698600411415,0.27632901072502136],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840965270996094,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01179460808634758,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00022766222537029535,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6322045922279358,"velocity_rad_s":-0.07853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3112756311893463,"velocity_rad_s":-0.0037011923268437386,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012265984900295734,"velocity_rad_s":-0.004664556123316288,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012169580906629562,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009883219376206398,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.598482608795166,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-18.80859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30367061495780945,"velocity_rad_s":0.009519584476947784,"acceleration_raw":0.0,"estimated_torque_nm":-2.8847038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0061157518066465855,"velocity_rad_s":0.0036376984789967537,"acceleration_raw":0.0,"estimated_torque_nm":1.22370445728302,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0028813497629016638,"velocity_rad_s":-0.053519356995821,"acceleration_raw":0.0,"estimated_torque_nm":-0.14600613713264465,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039113786071538925,"velocity_rad_s":-0.027073515579104424,"acceleration_raw":0.0,"estimated_torque_nm":1.1385247707366943,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2997015118598938,"velocity_rad_s":0.24697092175483704,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9835214018821716,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0222666896879673,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21149760484695435,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240593075752258,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.018491659313440323,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788356587264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810435,"imu":{"quaternion":[0.990359365940094,-0.001179151120595634,0.014995609410107136,0.13770341873168945],"gyroscope":[0.0074568502604961395,0.06604638695716858,0.012783171609044075],"accelerometer":[-0.05835866555571556,0.19303251802921295,9.691129684448242],"rpy":[0.0017951364861801267,0.030031343922019005,0.2763431668281555],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3484181761741638,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01179460808634758,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00022766222537029535,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321619749069214,"velocity_rad_s":-0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31126323342323303,"velocity_rad_s":0.0031459347810596228,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012273333966732025,"velocity_rad_s":-0.009257301688194275,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012144014239311218,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00991000235080719,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5984485149383545,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3036747872829437,"velocity_rad_s":0.0005246630753390491,"acceleration_raw":0.0,"estimated_torque_nm":-2.8847038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006123026367276907,"velocity_rad_s":0.0009234274621121585,"acceleration_raw":0.0,"estimated_torque_nm":1.22370445728302,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012200016528367996,"velocity_rad_s":0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0028813497629016638,"velocity_rad_s":-0.03795023262500763,"acceleration_raw":0.0,"estimated_torque_nm":-0.09662874042987823,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039113786071538925,"velocity_rad_s":-0.018255993723869324,"acceleration_raw":0.0,"estimated_torque_nm":1.2144354581832886,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30001309514045715,"velocity_rad_s":0.23623305559158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203623965382576,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005249090492725372,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9836052656173706,"velocity_rad_s":0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.0222666896879673,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2115095853805542,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240593075752258,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01859951764345169,"velocity_rad_s":-0.14726215600967407,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788358186528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810436,"imu":{"quaternion":[0.9903579950332642,-0.0011776265455409884,0.015021982602775097,0.13771024346351624],"gyroscope":[0.0063915858045220375,0.06711164861917496,0.012783171609044075],"accelerometer":[0.015263035893440247,0.23792380094528198,9.665990829467773],"rpy":[0.001805635867640376,0.03008316084742546,0.2763572931289673],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840112924575806,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011786085553467274,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6321449279785156,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31124261021614075,"velocity_rad_s":0.004730038810521364,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012280702590942383,"velocity_rad_s":-0.008318645879626274,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35115376114845276,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012178102508187294,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009896610863506794,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5983888506889343,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.303678959608078,"velocity_rad_s":-0.0037482904735952616,"acceleration_raw":0.0,"estimated_torque_nm":-2.8847038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0061303009279072285,"velocity_rad_s":0.006520004477351904,"acceleration_raw":0.0,"estimated_torque_nm":1.22370445728302,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012240192852914333,"velocity_rad_s":0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0028737476095557213,"velocity_rad_s":-0.026272954419255257,"acceleration_raw":0.0,"estimated_torque_nm":-0.19538351893424988,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03911870718002319,"velocity_rad_s":-0.014484844170510769,"acceleration_raw":0.0,"estimated_torque_nm":1.0626140832901,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3001808822154999,"velocity_rad_s":0.23623305559158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203623965382576,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005249090492725372,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9836891889572144,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022290658205747604,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007454188074916601,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2115335613489151,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240593075752258,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.018731344491243362,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788361365728,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810437,"imu":{"quaternion":[0.9903571009635925,-0.0011762815993279219,0.015050050802528858,0.1377139538526535],"gyroscope":[0.0063915858045220375,0.07030744105577469,0.0063915858045220375],"accelerometer":[-0.01975216343998909,0.33848026394844055,9.674071311950684],"rpy":[0.0018161518964916468,0.030138392001390457,0.27636510133743286],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840965270996094,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01179460808634758,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320597529411316,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31121787428855896,"velocity_rad_s":0.007887110114097595,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012295364402234554,"velocity_rad_s":-0.01200864091515541,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35115376114845276,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012169580906629562,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5983462333679199,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30367061495780945,"velocity_rad_s":-0.0042189182713627815,"acceleration_raw":0.0,"estimated_torque_nm":-2.8847038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0061157518066465855,"velocity_rad_s":-0.003677706466987729,"acceleration_raw":0.0,"estimated_torque_nm":1.22370445728302,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0122669767588377,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00285854609683156,"velocity_rad_s":-0.02529989555478096,"acceleration_raw":0.0,"estimated_torque_nm":-0.19538351893424988,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03912854939699173,"velocity_rad_s":-0.013854804448783398,"acceleration_raw":0.0,"estimated_torque_nm":1.0626140832901,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3003726303577423,"velocity_rad_s":0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00523710623383522,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9838449954986572,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02231462672352791,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21154554188251495,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240593075752258,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.018827218562364578,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788362001952,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810438,"imu":{"quaternion":[0.9903563261032104,-0.0011762591311708093,0.015076965093612671,0.1377166211605072],"gyroscope":[0.0031957929022610188,0.06817691773176193,0.004261057358235121],"accelerometer":[-0.042197804898023605,0.37169981002807617,9.687539100646973],"rpy":[0.0018236981704831123,0.030191702768206596,0.27637073397636414],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840965270996094,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320597529411316,"velocity_rad_s":-0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31119731068611145,"velocity_rad_s":0.0062955813482403755,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01227378286421299,"velocity_rad_s":-0.016658835113048553,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.98828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012178102508187294,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009936786256730556,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5983121395111084,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3036622405052185,"velocity_rad_s":0.002677350305020809,"acceleration_raw":0.0,"estimated_torque_nm":-2.8847038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0061011845245957375,"velocity_rad_s":-0.00465714605525136,"acceleration_raw":0.0,"estimated_torque_nm":1.22370445728302,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012320543639361858,"velocity_rad_s":0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0028357384726405144,"velocity_rad_s":-0.031138826161623,"acceleration_raw":0.0,"estimated_torque_nm":-0.19538351893424988,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03913344815373421,"velocity_rad_s":-0.013845719397068024,"acceleration_raw":0.0,"estimated_torque_nm":1.0626140832901,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30051642656326294,"velocity_rad_s":0.2377670258283615,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9839528203010559,"velocity_rad_s":0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02238653227686882,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21156951785087585,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240712881088257,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.019054917618632317,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788364998080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810439,"imu":{"quaternion":[0.9903560876846313,-0.0011773620499297976,0.0151006318628788,0.13771510124206543],"gyroscope":[-0.0,0.06178532913327217,-0.004261057358235121],"accelerometer":[-0.06913257390260696,0.37169981002807617,9.603142738342285],"rpy":[0.0018279915675520897,0.030238894745707512,0.2763678729534149],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840965270996094,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00021427033061627299,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320427060127258,"velocity_rad_s":-0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31118905544281006,"velocity_rad_s":0.008941941894590855,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012288331985473633,"velocity_rad_s":-0.01200145948678255,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012169580906629562,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00991000235080719,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5982865691184998,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-18.6328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30366241931915283,"velocity_rad_s":-0.0020878452342003584,"acceleration_raw":0.0,"estimated_torque_nm":-2.9747531414031982,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006130175665020943,"velocity_rad_s":-0.005548566579818726,"acceleration_raw":0.0,"estimated_torque_nm":1.2748677730560303,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012360719963908195,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0028053317219018936,"velocity_rad_s":-0.036003340035676956,"acceleration_raw":0.0,"estimated_torque_nm":-0.19538351893424988,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039163004606962204,"velocity_rad_s":-0.022048344835639,"acceleration_raw":0.0,"estimated_torque_nm":1.0626140832901,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30084002017974854,"velocity_rad_s":0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9840367436408997,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022410500794649124,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007454188074916601,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21160545945167542,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240593075752258,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.019150791689753532,"velocity_rad_s":-0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788365640480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810440,"imu":{"quaternion":[0.9903563261032104,-0.0011783341178670526,0.015123900026082993,0.13771146535873413],"gyroscope":[-0.0,0.06072006747126579,-0.008522114716470242],"accelerometer":[-0.06913257390260696,0.37169981002807617,9.603142738342285],"rpy":[0.0018323680851608515,0.030285269021987915,0.27636075019836426],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840965270996094,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011777563951909542,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00018748654110822827,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6320000886917114,"velocity_rad_s":-0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31118494272232056,"velocity_rad_s":0.006317855324596167,"acceleration_raw":0.0,"estimated_torque_nm":0.3649722933769226,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01228109560906887,"velocity_rad_s":-0.005524220876395702,"acceleration_raw":0.0,"estimated_torque_nm":-0.20738036930561066,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012178102508187294,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009936786256730556,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5982439517974854,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-18.544921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30367061495780945,"velocity_rad_s":-0.0025908942334353924,"acceleration_raw":0.0,"estimated_torque_nm":-2.8847038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0061157518066465855,"velocity_rad_s":-0.010181707330048084,"acceleration_raw":0.0,"estimated_torque_nm":1.22370445728302,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012400895357131958,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027597195003181696,"velocity_rad_s":-0.045735083520412445,"acceleration_raw":0.0,"estimated_torque_nm":-0.0968649685382843,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03919253870844841,"velocity_rad_s":-0.02077009342610836,"acceleration_raw":0.0,"estimated_torque_nm":1.062629222869873,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30098381638526917,"velocity_rad_s":0.24083499610424042,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9841206073760986,"velocity_rad_s":0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022434469312429428,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21160545945167542,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240712881088257,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.019246665760874748,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788367830272,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810441,"imu":{"quaternion":[0.9903564453125,-0.0011779482010751963,0.015149127691984177,0.13770779967308044],"gyroscope":[0.0031957929022610188,0.06391585618257523,-0.008522114716470242],"accelerometer":[-0.13198037445545197,0.27653029561042786,9.608530044555664],"rpy":[0.0018399758264422417,0.03033515252172947,0.2763536274433136],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840112924575806,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319745182991028,"velocity_rad_s":-0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111766576766968,"velocity_rad_s":0.005266735330224037,"acceleration_raw":0.0,"estimated_torque_nm":0.4555119276046753,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012295645661652088,"velocity_rad_s":-0.0036756328772753477,"acceleration_raw":0.0,"estimated_torque_nm":-0.15589889883995056,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.900390625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012203669175505638,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00992339476943016,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5982013940811157,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-18.720703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30367469787597656,"velocity_rad_s":-0.008394609205424786,"acceleration_raw":0.0,"estimated_torque_nm":-2.794654369354248,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006108521483838558,"velocity_rad_s":-0.014774839393794537,"acceleration_raw":0.0,"estimated_torque_nm":1.1725411415100098,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01244107075035572,"velocity_rad_s":0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027445154264569283,"velocity_rad_s":-0.04476183280348778,"acceleration_raw":0.0,"estimated_torque_nm":-0.04748758301138878,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039202380925416946,"velocity_rad_s":-0.02140316180884838,"acceleration_raw":0.0,"estimated_torque_nm":1.1385399103164673,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30111563205718994,"velocity_rad_s":0.2346990704536438,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203623965382576,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9842883944511414,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022470422089099884,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21162943542003632,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240712881088257,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01931857131421566,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788369859264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810442,"imu":{"quaternion":[0.9903564453125,-0.0011779482010751963,0.015149127691984177,0.13770779967308044],"gyroscope":[0.0031957929022610188,0.06391585618257523,-0.008522114716470242],"accelerometer":[-0.13198037445545197,0.27653029561042786,9.608530044555664],"rpy":[0.0018399758264422417,0.03033515252172947,0.2763536274433136],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483926057815552,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319745182991028,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31118080019950867,"velocity_rad_s":0.0026166627649217844,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012288370169699192,"velocity_rad_s":-0.01018877699971199,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.724609375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009936786256730556,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":2.1812856197357178,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5981758236885071,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3036499321460724,"velocity_rad_s":0.002152687171474099,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006122820544987917,"velocity_rad_s":-0.005580573342740536,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01244107075035572,"velocity_rad_s":0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":-2.237215995788574,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002721709432080388,"velocity_rad_s":-0.03892270848155022,"acceleration_raw":0.0,"estimated_torque_nm":-0.19538351893424988,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03921714797616005,"velocity_rad_s":-0.022675354033708572,"acceleration_raw":0.0,"estimated_torque_nm":1.0626140832901,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3012714385986328,"velocity_rad_s":0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9843482971191406,"velocity_rad_s":0.13038837909698486,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02250637486577034,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21164141595363617,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240593075752258,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.019534287974238396,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788371795584,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810443,"imu":{"quaternion":[0.9903559684753418,-0.001171004376374185,0.015203835442662239,0.137704536318779],"gyroscope":[0.010652642697095871,0.0649811252951622,-0.004261057358235121],"accelerometer":[-0.22445641458034515,0.4183867573738098,9.589675903320312],"rpy":[0.0018687187694013119,0.03044162504374981,0.2763477861881256],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840112924575806,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631957471370697,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31116431951522827,"velocity_rad_s":0.006306718103587627,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01228848285973072,"velocity_rad_s":-0.01109152752906084,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511281907558441,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5981758236885071,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-18.193359375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3036211431026459,"velocity_rad_s":0.011661464348435402,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006158836185932159,"velocity_rad_s":-8.801836520433426e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01244107075035572,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026836961042135954,"velocity_rad_s":-0.04962809383869171,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039222024381160736,"velocity_rad_s":-0.018237821757793427,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30158302187919617,"velocity_rad_s":0.24083499610424042,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9844081997871399,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022554311901330948,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21168935298919678,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240712881088257,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.019630160182714462,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788374200928,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810443,"imu":{"quaternion":[0.9903557300567627,-0.0011669853702187538,0.015227999538183212,0.13770395517349243],"gyroscope":[0.009587379172444344,0.059654802083969116,-0.0021305286791175604],"accelerometer":[-0.15891513228416443,0.27742812037467957,9.634567260742188],"rpy":[0.0018833262147381902,0.03048839420080185,0.27634698152542114],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840112924575806,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011777563951909542,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00021427033061627299,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319489479064941,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111478388309479,"velocity_rad_s":0.012110150419175625,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012288594618439674,"velocity_rad_s":-0.01012414786964655,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012220713309943676,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009963570162653923,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5981673002243042,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-18.369140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3036007583141327,"velocity_rad_s":0.01846046932041645,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006209383253008127,"velocity_rad_s":0.015626251697540283,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012454463168978691,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026532879564911127,"velocity_rad_s":-0.048655617982149124,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03924171254038811,"velocity_rad_s":-0.013818462379276752,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3017268478870392,"velocity_rad_s":0.23623305559158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9845041036605835,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022578280419111252,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007454188074916601,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21170133352279663,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240593075752258,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01973801851272583,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788376169920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810444,"imu":{"quaternion":[0.9903557300567627,-0.0011669853702187538,0.015227999538183212,0.13770395517349243],"gyroscope":[0.009587379172444344,0.059654802083969116,-0.0021305286791175604],"accelerometer":[-0.15891513228416443,0.27742812037467957,9.634567260742188],"rpy":[0.0018833262147381902,0.03048839420080185,0.27634698152542114],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34840112924575806,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011786085553467274,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00021427033061627299,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319148540496826,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3111230731010437,"velocity_rad_s":0.0142532242462039,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012317768298089504,"velocity_rad_s":0.006592136342078447,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012220713309943676,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5981246829032898,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.303571879863739,"velocity_rad_s":0.021543605253100395,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006230912171304226,"velocity_rad_s":0.03229595720767975,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012467854656279087,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-2.1812856197357178,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026228767819702625,"velocity_rad_s":-0.03989751264452934,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03924166411161423,"velocity_rad_s":-0.011937429197132587,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30190661549568176,"velocity_rad_s":0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20363596081733704,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005249090492725372,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9846718907356262,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022614233195781708,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21171332895755768,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240593075752258,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.01985786110162735,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788378156352,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810445,"imu":{"quaternion":[0.9903557300567627,-0.0011669304221868515,0.015278317965567112,0.1376982182264328],"gyroscope":[0.0010652643395587802,0.06391585618257523,-0.008522114716470242],"accelerometer":[-0.22176292538642883,0.23163901269435883,9.630077362060547],"rpy":[0.0018971303943544626,0.030588077381253242,0.2763359248638153],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483840823173523,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011777563951909542,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00021427033061627299,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6319233775138855,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110900819301605,"velocity_rad_s":0.023757848888635635,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012317975051701069,"velocity_rad_s":0.012224074453115463,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012237757444381714,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5981161594390869,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-18.369140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30349811911582947,"velocity_rad_s":0.031490590423345566,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006360765080899,"velocity_rad_s":0.05355079472064972,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012494638562202454,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002569659613072872,"velocity_rad_s":-0.04962925985455513,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03925638645887375,"velocity_rad_s":-0.010659179650247097,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3020504117012024,"velocity_rad_s":0.23316508531570435,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005249090492725372,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9847437739372253,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022674154490232468,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007406251039355993,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21173729002475739,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240832686424255,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02004960924386978,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788380129152,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810446,"imu":{"quaternion":[0.9903557896614075,-0.0011683395132422447,0.015305370092391968,0.13769513368606567],"gyroscope":[-0.0,0.06604638695716858,-0.0074568502604961395],"accelerometer":[-0.20021511614322662,0.21098902821540833,9.598653793334961],"rpy":[0.0019016999285668135,0.03064206801354885,0.2763299345970154],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483755588531494,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01176051888614893,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631889283657074,"velocity_rad_s":-0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110694885253906,"velocity_rad_s":0.023232288658618927,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012325379997491837,"velocity_rad_s":0.013148368336260319,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01224627997726202,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009963570162653923,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.598107635974884,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-18.369140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3034694194793701,"velocity_rad_s":0.03778654709458351,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006411267444491386,"velocity_rad_s":0.06463192403316498,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012494638562202454,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002524042734876275,"velocity_rad_s":-0.05838794633746147,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03925631195306778,"velocity_rad_s":-0.008750888518989086,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30236199498176575,"velocity_rad_s":0.23009712994098663,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9848157167434692,"velocity_rad_s":0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21174927055835724,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240832686424255,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.020145483314990997,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788382065920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810447,"imu":{"quaternion":[0.9903557896614075,-0.0011683395132422447,0.015305370092391968,0.13769513368606567],"gyroscope":[-0.0,0.06604638695716858,-0.0074568502604961395],"accelerometer":[-0.20021511614322662,0.21098902821540833,9.598653793334961],"rpy":[0.0019016999285668135,0.03064206801354885,0.2763299345970154],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483755588531494,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011743474751710892,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318722367286682,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-10.8984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31105297803878784,"velocity_rad_s":0.02323971316218376,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012339985929429531,"velocity_rad_s":0.016859903931617737,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012229235842823982,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5980820655822754,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-18.369140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30342021584510803,"velocity_rad_s":0.04562406986951828,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006497848313301802,"velocity_rad_s":0.08404789865016937,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01252142246812582,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-2.1253552436828613,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002516442211344838,"velocity_rad_s":-0.03697814792394638,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03927110508084297,"velocity_rad_s":-0.011310419999063015,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3025417625904083,"velocity_rad_s":0.23930101096630096,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005249090492725372,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9848995804786682,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022734075784683228,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007454188074916601,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21177324652671814,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240832686424255,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.020253339782357216,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788383675584,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810448,"imu":{"quaternion":[0.9903557896614075,-0.0011684430064633489,0.015331059694290161,0.13769200444221497],"gyroscope":[0.0021305286791175604,0.06285059452056885,-0.0074568502604961395],"accelerometer":[-0.157119482755661,0.3016694188117981,9.414599418640137],"rpy":[0.0019084799569100142,0.030692996457219124,0.2763238549232483],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483840823173523,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011751997284591198,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00018748654110822827,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631889283657074,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110281527042389,"velocity_rad_s":0.02324342541396618,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012383653782308102,"velocity_rad_s":0.018715674057602882,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111114382743835,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012263324111700058,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5980479717254639,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-18.28125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30337104201316833,"velocity_rad_s":0.053001776337623596,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006584410555660725,"velocity_rad_s":0.09141132235527039,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01252142246812582,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025240457616746426,"velocity_rad_s":-0.029193682596087456,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03927604854106903,"velocity_rad_s":-0.006270105484873056,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3026975691318512,"velocity_rad_s":0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9850553870201111,"velocity_rad_s":0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02274606004357338,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.211785227060318,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240832686424255,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.020361198112368584,"velocity_rad_s":-0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788386608480,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810449,"imu":{"quaternion":[0.9903562664985657,-0.0011734607396647334,0.015372713096439838,0.13768377900123596],"gyroscope":[-0.0053263213485479355,0.0511326864361763,-0.010652642697095871],"accelerometer":[-0.12300211191177368,0.3824737071990967,9.518747329711914],"rpy":[0.001909763552248478,0.030776916071772575,0.27630752325057983],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3483755588531494,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01173495315015316,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00021427033061627299,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318722367286682,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3110075294971466,"velocity_rad_s":0.026940904557704926,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012405534274876118,"velocity_rad_s":0.0215244609862566,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012271846644580364,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5980309247970581,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-18.369140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30328086018562317,"velocity_rad_s":0.06404131650924683,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006743129808455706,"velocity_rad_s":0.10709358751773834,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01252142246812582,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025316462852060795,"velocity_rad_s":-0.022382082417607307,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03926125913858414,"velocity_rad_s":-0.00312293809838593,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3028533458709717,"velocity_rad_s":0.251572847366333,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2036479413509369,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9851152896881104,"velocity_rad_s":0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02281796559691429,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007454188074916601,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2118092030286789,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240832686424255,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.020540961995720863,"velocity_rad_s":-0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788387270208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810450,"imu":{"quaternion":[0.9903566837310791,-0.0011771629797294736,0.015390940010547638,0.13767865300178528],"gyroscope":[-0.0074568502604961395,0.049002159386873245,-0.011717907153069973],"accelerometer":[-0.0727238729596138,0.3223194181919098,9.613917350769043],"rpy":[0.0019072915893048048,0.03081405907869339,0.2762972414493561],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34835851192474365,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011717909015715122,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00021427033061627299,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318551898002625,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3109910190105438,"velocity_rad_s":0.033251333981752396,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012405664660036564,"velocity_rad_s":0.01228870265185833,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.63671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012288890779018402,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009936786256730556,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5979968309402466,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-18.45703125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3032318353652954,"velocity_rad_s":0.062434904277324677,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006858683656901121,"velocity_rad_s":0.10988787561655045,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012534813955426216,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025164408143609762,"velocity_rad_s":-0.015570287592709064,"acceleration_raw":0.0,"estimated_torque_nm":-0.2447609007358551,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039261236786842346,"velocity_rad_s":-0.0012388780014589429,"acceleration_raw":0.0,"estimated_torque_nm":0.9867032766342163,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3031769394874573,"velocity_rad_s":0.25003889203071594,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9851992130279541,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022841934114694595,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2118571400642395,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240952491760254,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02064882032573223,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788389274400,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810451,"imu":{"quaternion":[0.9903566837310791,-0.0011771629797294736,0.015390940010547638,0.13767865300178528],"gyroscope":[-0.0074568502604961395,0.049002159386873245,-0.011717907153069973],"accelerometer":[-0.0727238729596138,0.3223194181919098,9.613917350769043],"rpy":[0.0019072915893048048,0.03081405907869339,0.2762972414493561],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34835851192474365,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01173495315015316,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318551898002625,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3109910190105438,"velocity_rad_s":0.03167465701699257,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012405664660036564,"velocity_rad_s":0.015061583369970322,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012297412380576134,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5979797840118408,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-18.369140625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30317848920822144,"velocity_rad_s":0.06138557568192482,"acceleration_raw":0.0,"estimated_torque_nm":-2.4321155548095703,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.006937971338629723,"velocity_rad_s":0.10804101079702377,"acceleration_raw":0.0,"estimated_torque_nm":1.2780293226242065,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012534813955426216,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-2.069424629211426,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025164408143609762,"velocity_rad_s":-0.01362436544150114,"acceleration_raw":0.0,"estimated_torque_nm":-0.3926568329334259,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039261236786842346,"velocity_rad_s":0.0012843076838180423,"acceleration_raw":0.0,"estimated_torque_nm":0.9107773900032043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30330875515937805,"velocity_rad_s":0.24236898124217987,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005213138181716204,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9852830767631531,"velocity_rad_s":0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022853918373584747,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21189308166503906,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240832686424255,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02070874162018299,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.34375,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788391179200,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810452,"imu":{"quaternion":[0.9903568625450134,-0.001179050887003541,0.015412041917443275,0.13767504692077637],"gyroscope":[-0.0031957929022610188,0.05432847887277603,-0.008522114716470242],"accelerometer":[-0.04758475720882416,0.31693243980407715,9.56633186340332],"rpy":[0.0019092548172920942,0.030856391414999962,0.2762901484966278],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34835851192474365,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01173495315015316,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00020087843586225063,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6318381428718567,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31097039580345154,"velocity_rad_s":0.024790408089756966,"acceleration_raw":0.0,"estimated_torque_nm":0.5467550158500671,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.012413034215569496,"velocity_rad_s":0.0010966381523758173,"acceleration_raw":0.0,"estimated_torque_nm":-0.20774400234222412,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35111966729164124,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012314456515014172,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009950178675353527,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":2.1253552436828613,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5979627370834351,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-18.28125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3031251132488251,"velocity_rad_s":0.06723251938819885,"acceleration_raw":0.0,"estimated_torque_nm":-2.3420660495758057,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007017277646809816,"velocity_rad_s":0.10521472245454788,"acceleration_raw":0.0,"estimated_torque_nm":1.2268660068511963,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012548206374049187,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025088386610150337,"velocity_rad_s":-0.01556931622326374,"acceleration_raw":0.0,"estimated_torque_nm":-0.3926568329334259,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039266157895326614,"velocity_rad_s":-0.0075544132851064205,"acceleration_raw":0.0,"estimated_torque_nm":0.9107773900032043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3034765422344208,"velocity_rad_s":0.2577087879180908,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20365992188453674,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005225121974945068,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9854628443717957,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":53.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02287788689136505,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21192903816699982,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8240832686424255,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02081659995019436,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.33125001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788393102752,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810477,"imu":{"quaternion":[0.9903799295425415,-0.0011612344533205032,0.016063153743743896,0.13743488490581512],"gyroscope":[-0.0053263213485479355,0.05858953669667244,-0.012783171609044075],"accelerometer":[-0.24151510000228882,0.17866730690002441,9.651625633239746],"rpy":[0.002116243354976177,0.032141972333192825,0.2758125364780426],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3482477366924286,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01167529821395874,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0002544460294302553,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317103505134583,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103986382484436,"velocity_rad_s":0.03942070156335831,"acceleration_raw":0.0,"estimated_torque_nm":0.9103204011917114,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011931266635656357,"velocity_rad_s":-0.06746628135442734,"acceleration_raw":0.0,"estimated_torque_nm":-0.20847125351428986,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01239115558564663,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00991000235080719,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977667570114136,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-17.75390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30278030037879944,"velocity_rad_s":0.0011465891730040312,"acceleration_raw":0.0,"estimated_torque_nm":-1.9810880422592163,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007536313962191343,"velocity_rad_s":-0.014846855774521828,"acceleration_raw":0.0,"estimated_torque_nm":1.1255931854248047,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012387503869831562,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002524032024666667,"velocity_rad_s":0.006811211816966534,"acceleration_raw":0.0,"estimated_torque_nm":-0.4911753833293915,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0391872376203537,"velocity_rad_s":0.005673381499946117,"acceleration_raw":0.0,"estimated_torque_nm":0.9107622504234314,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060171902179718,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037438154220581,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.989549458026886,"velocity_rad_s":0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02340519241988659,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2133311927318573,"velocity_rad_s":0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8241431713104248,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788395326528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810478,"imu":{"quaternion":[0.9903799295425415,-0.0011612344533205032,0.016063153743743896,0.13743488490581512],"gyroscope":[-0.0053263213485479355,0.05858953669667244,-0.012783171609044075],"accelerometer":[-0.24151510000228882,0.17866730690002441,9.651625633239746],"rpy":[0.002116243354976177,0.032141972333192825,0.2758125364780426],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3482477366924286,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011683819815516472,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00026783792418427765,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317018270492554,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31038638949394226,"velocity_rad_s":0.03360613435506821,"acceleration_raw":0.0,"estimated_torque_nm":0.8197807669639587,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011880586855113506,"velocity_rad_s":-0.07400096952915192,"acceleration_raw":0.0,"estimated_torque_nm":-0.25995272397994995,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01239115558564663,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009869826957583427,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977752804756165,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-17.75390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3027844727039337,"velocity_rad_s":-0.0004706279723905027,"acceleration_raw":0.0,"estimated_torque_nm":-1.9810880422592163,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007543588522821665,"velocity_rad_s":-0.010197710245847702,"acceleration_raw":0.0,"estimated_torque_nm":1.1255931854248047,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012374111451208591,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002531632548198104,"velocity_rad_s":0.005837959703058004,"acceleration_raw":0.0,"estimated_torque_nm":-0.4911753833293915,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039172448217868805,"velocity_rad_s":0.006306449417024851,"acceleration_raw":0.0,"estimated_torque_nm":0.9107622504234314,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060171902179718,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037438154220581,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9897052645683289,"velocity_rad_s":0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023429160937666893,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21342706680297852,"velocity_rad_s":0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.625,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8241431713104248,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05874667316675186,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788397263392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810479,"imu":{"quaternion":[0.9903803467750549,-0.0011636397102847695,0.016085080802440643,0.1374291628599167],"gyroscope":[-0.0031957929022610188,0.05432847887277603,-0.012783171609044075],"accelerometer":[-0.24151510000228882,0.17866730690002441,9.651625633239746],"rpy":[0.002117324387654662,0.03218608722090721,0.2758011817932129],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3482477366924286,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011683819815516472,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0002946217136923224,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316933035850525,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31037411093711853,"velocity_rad_s":0.03255501389503479,"acceleration_raw":0.0,"estimated_torque_nm":0.8197807669639587,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011829924769699574,"velocity_rad_s":-0.07215238362550735,"acceleration_raw":0.0,"estimated_torque_nm":-0.25995272397994995,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35115376114845276,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01239115558564663,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009883219376206398,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":2.0134942531585693,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977582335472107,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-17.841796875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30278030037879944,"velocity_rad_s":6.484195910161361e-05,"acceleration_raw":0.0,"estimated_torque_nm":-1.9810880422592163,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007536313962191343,"velocity_rad_s":-0.011129139922559261,"acceleration_raw":0.0,"estimated_torque_nm":1.1255931854248047,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012374111451208591,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025468396488577127,"velocity_rad_s":0.002919173799455166,"acceleration_raw":0.0,"estimated_torque_nm":-0.4911753833293915,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03918233886361122,"velocity_rad_s":0.001890117535367608,"acceleration_raw":0.0,"estimated_torque_nm":0.9107622504234314,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060411512851715,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037438154220581,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9899808764457703,"velocity_rad_s":0.22549518942832947,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023453129455447197,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21348698437213898,"velocity_rad_s":0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8241551518440247,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788398869952,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810480,"imu":{"quaternion":[0.9903808236122131,-0.0011638334253802896,0.01610630750656128,0.13742339611053467],"gyroscope":[0.0010652643395587802,0.05219795182347298,-0.012783171609044075],"accelerometer":[-0.2693476974964142,0.23792380094528198,9.772831916809082],"rpy":[0.00212259404361248,0.03222821280360222,0.27578970789909363],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34825626015663147,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00026783792418427765,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316933035850525,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103536367416382,"velocity_rad_s":0.03623022139072418,"acceleration_raw":0.0,"estimated_torque_nm":0.8197807669639587,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011764825321733952,"velocity_rad_s":-0.08047820627689362,"acceleration_raw":0.0,"estimated_torque_nm":-0.25995272397994995,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-2.197265625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012382633984088898,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009869826957583427,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977497100830078,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-17.75390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30278030037879944,"velocity_rad_s":0.003759097307920456,"acceleration_raw":0.0,"estimated_torque_nm":-1.9810880422592163,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007536313962191343,"velocity_rad_s":-0.008374860510230064,"acceleration_raw":0.0,"estimated_torque_nm":1.1255931854248047,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012360719963908195,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002539237728342414,"velocity_rad_s":-0.0009730579913593829,"acceleration_raw":0.0,"estimated_torque_nm":-0.4911753833293915,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03918725997209549,"velocity_rad_s":-0.000630039197858423,"acceleration_raw":0.0,"estimated_torque_nm":0.9107622504234314,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060411512851715,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037677764892578,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9900887608528137,"velocity_rad_s":0.19481556117534637,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02353701926767826,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.26875001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21355889737606049,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8241791129112244,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788401055840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810481,"imu":{"quaternion":[0.9903815388679504,-0.0011633241083472967,0.016126012429594994,0.1374160349369049],"gyroscope":[0.0021305286791175604,0.049002159386873245,-0.015978964045643806],"accelerometer":[-0.18584990501403809,0.26396074891090393,9.740509986877441],"rpy":[0.00212878524325788,0.03226712718605995,0.27577510476112366],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34825626015663147,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01167529821395874,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0002812298189383,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317018270492554,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31032493710517883,"velocity_rad_s":0.023590799421072006,"acceleration_raw":0.0,"estimated_torque_nm":0.8197807669639587,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011699781753122807,"velocity_rad_s":-0.07128553837537766,"acceleration_raw":0.0,"estimated_torque_nm":-0.25995272397994995,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012399678118526936,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009856435470283031,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977667570114136,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-17.666015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3027762770652771,"velocity_rad_s":0.0037266763392835855,"acceleration_raw":0.0,"estimated_torque_nm":-1.9810880422592163,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007558030541986227,"velocity_rad_s":-0.0028102907817810774,"acceleration_raw":0.0,"estimated_torque_nm":1.1255931854248047,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012347327545285225,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025468396488577127,"velocity_rad_s":0.004866454750299454,"acceleration_raw":0.0,"estimated_torque_nm":-0.4911753833293915,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03918233886361122,"velocity_rad_s":-0.004428446292877197,"acceleration_raw":0.0,"estimated_torque_nm":0.9107622504234314,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30605313181877136,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20375579595565796,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9902085661888123,"velocity_rad_s":0.18867965042591095,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023572970181703568,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.26875001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2136307954788208,"velocity_rad_s":0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242031335830688,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014069480821490288,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788402922496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810482,"imu":{"quaternion":[0.9903822541236877,-0.0011617812560871243,0.016145365312695503,0.13740864396095276],"gyroscope":[0.004261057358235121,0.04793689399957657,-0.015978964045643806],"accelerometer":[-0.24241292476654053,0.18046295642852783,9.733327865600586],"rpy":[0.002136926632374525,0.03230506181716919,0.2757604122161865],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34825626015663147,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0002544460294302553,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316762566566467,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103044331073761,"velocity_rad_s":0.025685612112283707,"acceleration_raw":0.0,"estimated_torque_nm":0.8197807669639587,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011649194173514843,"velocity_rad_s":-0.07869424670934677,"acceleration_raw":0.0,"estimated_torque_nm":-0.25995272397994995,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01239115558564663,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009883219376206398,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.9575639963150024,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977241396903992,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-17.75390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3027844727039337,"velocity_rad_s":-0.0010060981148853898,"acceleration_raw":0.0,"estimated_torque_nm":-1.9810880422592163,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007543588522821665,"velocity_rad_s":-0.009266281500458717,"acceleration_raw":0.0,"estimated_torque_nm":1.1255931854248047,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012347327545285225,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025544418022036552,"velocity_rad_s":0.008758299052715302,"acceleration_raw":0.0,"estimated_torque_nm":-0.4911753833293915,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03917741775512695,"velocity_rad_s":0.0006179246702231467,"acceleration_raw":0.0,"estimated_torque_nm":0.9107622504234314,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060651421546936,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20377977192401886,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9903404116630554,"velocity_rad_s":0.18561168015003204,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023620907217264175,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.28125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21371468901634216,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242270946502686,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788404808192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810483,"imu":{"quaternion":[0.9903831481933594,-0.001160461106337607,0.016165299341082573,0.13739913702011108],"gyroscope":[0.004261057358235121,0.049002159386873245,-0.020240021869540215],"accelerometer":[-0.2711433470249176,0.176871657371521,9.730634689331055],"rpy":[0.002144717611372471,0.032344210892915726,0.27574145793914795],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34825626015663147,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00026783792418427765,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6317018270492554,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102838695049286,"velocity_rad_s":0.026222310960292816,"acceleration_raw":0.0,"estimated_torque_nm":1.001563549041748,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011627575382590294,"velocity_rad_s":-0.07405123859643936,"acceleration_raw":0.0,"estimated_torque_nm":-0.2603163421154022,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35115376114845276,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01239115558564663,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009883219376206398,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.9016335010528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977411866188049,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-17.490234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30278438329696655,"velocity_rad_s":0.0006003121961839497,"acceleration_raw":0.0,"estimated_torque_nm":-1.710159420967102,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007529101800173521,"velocity_rad_s":-0.012060568667948246,"acceleration_raw":0.0,"estimated_torque_nm":1.0754836797714233,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012320543639361858,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0025544401723891497,"velocity_rad_s":0.009731744416058064,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03916754946112633,"velocity_rad_s":-0.0012782502453774214,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30605313181877136,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20377977192401886,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9905321598052979,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":-1.3125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023668844252824783,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.26875001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21377460658550262,"velocity_rad_s":0.07363107800483704,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17885257303714752,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242390751838684,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788406678592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810484,"imu":{"quaternion":[0.9903839230537415,-0.001159020233899355,0.016187995672225952,0.13739120960235596],"gyroscope":[0.0053263213485479355,0.05432847887277603,-0.017044229432940483],"accelerometer":[-0.2711433470249176,0.176871657371521,9.730634689331055],"rpy":[0.0021535579580813646,0.032388802617788315,0.27572575211524963],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3482477366924286,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01167529821395874,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0002812298189383,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316847801208496,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.310242623090744,"velocity_rad_s":0.03857989236712456,"acceleration_raw":0.0,"estimated_torque_nm":1.1764335632324219,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011584353633224964,"velocity_rad_s":-0.07304559648036957,"acceleration_raw":0.0,"estimated_torque_nm":-0.260666161775589,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012416722252964973,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009883219376206398,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977241396903992,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-17.138671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30275124311447144,"velocity_rad_s":0.009092183783650398,"acceleration_raw":0.0,"estimated_torque_nm":-1.6201099157333374,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007528869900852442,"velocity_rad_s":-0.013979438692331314,"acceleration_raw":0.0,"estimated_torque_nm":1.024320363998413,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012307152152061462,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002562042325735092,"velocity_rad_s":0.011677666567265987,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03916262462735176,"velocity_rad_s":0.0012449352070689201,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060651421546936,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037677764892578,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9906160831451416,"velocity_rad_s":0.16106799244880676,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023764718323946,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.28125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21379858255386353,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242390751838684,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788408275296,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810485,"imu":{"quaternion":[0.9903841614723206,-0.0011587514309212565,0.016211651265621185,0.13738645613193512],"gyroscope":[0.0031957929022610188,0.056459009647369385,-0.010652642697095871],"accelerometer":[-0.2783259451389313,0.1966238170862198,9.708189010620117],"rpy":[0.0021604427602142096,0.03243560716509819,0.2757163941860199],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3482477366924286,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011683819815516472,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0002946217136923224,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316847801208496,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31015995144844055,"velocity_rad_s":0.051311902701854706,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011483412235975266,"velocity_rad_s":-0.07296101003885269,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012425243854522705,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009883219376206398,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977411866188049,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-17.138671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3027265965938568,"velocity_rad_s":0.015431368723511696,"acceleration_raw":0.0,"estimated_torque_nm":-1.5300604104995728,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007557655684649944,"velocity_rad_s":-0.010317735373973846,"acceleration_raw":0.0,"estimated_torque_nm":0.9731571078300476,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012293760664761066,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-2.0134942531585693,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002569642849266529,"velocity_rad_s":0.003892037784680724,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03914783522486687,"velocity_rad_s":0.0037832639645785093,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060651421546936,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20377977192401886,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9906879663467407,"velocity_rad_s":0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023872576653957367,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21384651958942413,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242510557174683,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05873468890786171,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788410136032,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810486,"imu":{"quaternion":[0.9903843402862549,-0.001160806743428111,0.01623665541410446,0.1373828500509262],"gyroscope":[-0.0010652643395587802,0.059654802083969116,-0.008522114716470242],"accelerometer":[-0.2899976670742035,0.22176292538642883,9.647136688232422],"rpy":[0.0021631289273500443,0.0324857197701931,0.275709331035614],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34821364283561707,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011683819815516472,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00030801360844634473,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316677331924438,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100937604904175,"velocity_rad_s":0.0587240569293499,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011411384679377079,"velocity_rad_s":-0.08033474534749985,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012425243854522705,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009856435470283031,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977411866188049,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-17.314453125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30270180106163025,"velocity_rad_s":0.019114816561341286,"acceleration_raw":0.0,"estimated_torque_nm":-1.5300604104995728,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007571954280138016,"velocity_rad_s":-0.005708600860089064,"acceleration_raw":0.0,"estimated_torque_nm":0.9731571078300476,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012293760664761066,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026000540237873793,"velocity_rad_s":0.016542956233024597,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03914788365364075,"velocity_rad_s":0.004395131021738052,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060891032218933,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037917524576187,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907598495483398,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023920513689517975,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007418235298246145,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2139064371585846,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242630362510681,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788412700640,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810487,"imu":{"quaternion":[0.9903842806816101,-0.0011623210739344358,0.01626124605536461,0.13738027215003967],"gyroscope":[-0.0,0.05858953669667244,-0.0063915858045220375],"accelerometer":[-0.2801215946674347,0.1553238332271576,9.632771492004395],"rpy":[0.002166807884350419,0.03253486752510071,0.27570441365242004],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34822216629981995,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011709386482834816,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0003214055032003671,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316762566566467,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100358247756958,"velocity_rad_s":0.06296806037425995,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011368252336978912,"velocity_rad_s":-0.08030654489994049,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012459333054721355,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009883219376206398,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597732663154602,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-17.2265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.302685409784317,"velocity_rad_s":0.029072608798742294,"acceleration_raw":0.0,"estimated_torque_nm":-1.5300604104995728,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007600802928209305,"velocity_rad_s":0.013691379688680172,"acceleration_raw":0.0,"estimated_torque_nm":0.9731571078300476,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012280368246138096,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002630463568493724,"velocity_rad_s":0.016542956233024597,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039138063788414,"velocity_rad_s":0.004395131021738052,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060891032218933,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2037917524576187,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9908198118209839,"velocity_rad_s":0.13345633447170258,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023992419242858887,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21394239366054535,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242630362510681,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788414599456,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810488,"imu":{"quaternion":[0.990384578704834,-0.0011636698618531227,0.01628691703081131,0.13737502694129944],"gyroscope":[0.0010652643395587802,0.06072006747126579,-0.011717907153069973],"accelerometer":[-0.21098902821540833,0.0834977850317955,9.718064308166504],"rpy":[0.0021710237488150597,0.03258610889315605,0.2756940424442291],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3481965959072113,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0003214055032003671,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316677331924438,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30993643403053284,"velocity_rad_s":0.0756889283657074,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011325414292514324,"velocity_rad_s":-0.0857892706990242,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012476377189159393,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009856435470283031,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977497100830078,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-17.138671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30266082286834717,"velocity_rad_s":0.02581655979156494,"acceleration_raw":0.0,"estimated_torque_nm":-1.5300604104995728,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007644093129783869,"velocity_rad_s":0.026699380949139595,"acceleration_raw":0.0,"estimated_torque_nm":0.9731571078300476,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0122669767588377,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026304605416953564,"velocity_rad_s":0.015569121576845646,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03911832720041275,"velocity_rad_s":0.00881751999258995,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3060891032218933,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20380373299121857,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909036755561829,"velocity_rad_s":0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024052340537309647,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.28125,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21399033069610596,"velocity_rad_s":0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242869973182678,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788416201792,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810489,"imu":{"quaternion":[0.9903848171234131,-0.0011619837023317814,0.016312982887029648,0.13736967742443085],"gyroscope":[0.0074568502604961395,0.06072006747126579,-0.011717907153069973],"accelerometer":[-0.21098902821540833,0.0834977850317955,9.718064308166504],"rpy":[0.0021813600324094296,0.03263729810714722,0.27568355202674866],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34817954897880554,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0003214055032003671,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631659209728241,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30980828404426575,"velocity_rad_s":0.08945224434137344,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011174047365784645,"velocity_rad_s":-0.1005437895655632,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012459333054721355,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009883219376206398,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597732663154602,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-17.314453125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3026198446750641,"velocity_rad_s":0.023106789216399193,"acceleration_raw":0.0,"estimated_torque_nm":-1.5300604104995728,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0077162315137684345,"velocity_rad_s":0.036921098828315735,"acceleration_raw":0.0,"estimated_torque_nm":0.9731571078300476,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0122669767588377,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026456662453711033,"velocity_rad_s":0.01264975406229496,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03911834955215454,"velocity_rad_s":0.008190509863197803,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30610108375549316,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20380373299121857,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909276366233826,"velocity_rad_s":0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02419615164399147,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21402627229690552,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242869973182678,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788418081536,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810490,"imu":{"quaternion":[0.9903852939605713,-0.0011628124630078673,0.01633705012500286,0.13736391067504883],"gyroscope":[0.0021305286791175604,0.05752427130937576,-0.012783171609044075],"accelerometer":[-0.19393034279346466,0.1149216815829277,9.718064308166504],"rpy":[0.002186146564781666,0.03268522396683693,0.27567213773727417],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3481625020503998,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0003481892927084118,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631659209728241,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30974623560905457,"velocity_rad_s":0.08840237557888031,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011109220795333385,"velocity_rad_s":-0.0949835255742073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35115376114845276,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012459333054721355,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009856435470283031,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977411866188049,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-17.314453125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3025994300842285,"velocity_rad_s":0.02519463375210762,"acceleration_raw":0.0,"estimated_torque_nm":-1.5300604104995728,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007766814436763525,"velocity_rad_s":0.04246966540813446,"acceleration_raw":0.0,"estimated_torque_nm":0.9731571078300476,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0122669767588377,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026608703192323446,"velocity_rad_s":0.016543345525860786,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039108507335186005,"velocity_rad_s":0.0018689170246943831,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30610108375549316,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20380373299121857,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909515976905823,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024268055334687233,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21407420933246613,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.824275016784668,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788419958752,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810491,"imu":{"quaternion":[0.9903855323791504,-0.0011642141034826636,0.016361573711037636,0.13735920190811157],"gyroscope":[0.0010652643395587802,0.05858953669667244,-0.010652642697095871],"accelerometer":[-0.23612813651561737,0.19213469326496124,9.695618629455566],"rpy":[0.002189958468079567,0.032734207808971405,0.275662899017334],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34817102551460266,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011709386482834816,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0003481892927084118,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631659209728241,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309675931930542,"velocity_rad_s":0.09422117471694946,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.011029954999685287,"velocity_rad_s":-0.1032957211136818,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35115376114845276,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012459333054721355,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009856435470283031,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977497100830078,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-17.2265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.302578866481781,"velocity_rad_s":0.02938111685216427,"acceleration_raw":0.0,"estimated_torque_nm":-1.5307374000549316,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007788366172462702,"velocity_rad_s":0.042390067130327225,"acceleration_raw":0.0,"estimated_torque_nm":0.9727678894996643,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012226800434291363,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002676074393093586,"velocity_rad_s":0.015570287592709064,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03909866139292717,"velocity_rad_s":0.0012388780014589429,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.306113064289093,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20381571352481842,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909515976905823,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024339960888028145,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21407420933246613,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.824275016784668,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788421898208,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810491,"imu":{"quaternion":[0.9903855323791504,-0.0011642141034826636,0.016361573711037636,0.13735920190811157],"gyroscope":[0.0010652643395587802,0.05858953669667244,-0.010652642697095871],"accelerometer":[-0.23612813651561737,0.19213469326496124,9.695618629455566],"rpy":[0.002189958468079567,0.032734207808971405,0.275662899017334],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3481625020503998,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0003481892927084118,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316336393356323,"velocity_rad_s":-0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3095972537994385,"velocity_rad_s":0.09580710530281067,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010994226671755314,"velocity_rad_s":-0.10606879740953445,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01245081052184105,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009843043051660061,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977411866188049,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-17.314453125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30255430936813354,"velocity_rad_s":0.029345514252781868,"acceleration_raw":0.0,"estimated_torque_nm":-1.5307374000549316,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007831612601876259,"velocity_rad_s":0.0479518361389637,"acceleration_raw":0.0,"estimated_torque_nm":0.9727678894996643,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0122669767588377,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002676074393093586,"velocity_rad_s":0.016543345525860786,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03909866139292717,"velocity_rad_s":0.0018689170246943831,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30612504482269287,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20382770895957947,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909635782241821,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-1.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024399882182478905,"velocity_rad_s":0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007406251039355993,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21409818530082703,"velocity_rad_s":0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03645601496100426,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242869973182678,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788424259872,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810492,"imu":{"quaternion":[0.9903855919837952,-0.0011688160011544824,0.0164151843637228,0.1373519003391266],"gyroscope":[0.0021305286791175604,0.06604638695716858,-0.009587379172444344],"accelerometer":[-0.20021511614322662,0.15083470940589905,9.783605575561523],"rpy":[0.0021953422110527754,0.03284170851111412,0.2756485641002655],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3481625020503998,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00036158118746243417,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6316506862640381,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30948981642723083,"velocity_rad_s":0.09155197441577911,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010835475288331509,"velocity_rad_s":-0.1116643100976944,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35115376114845276,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012459333054721355,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009829651564359665,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597732663154602,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-17.314453125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30252566933631897,"velocity_rad_s":0.029345514252781868,"acceleration_raw":0.0,"estimated_torque_nm":-1.5307374000549316,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007882064208388329,"velocity_rad_s":0.0479518361389637,"acceleration_raw":0.0,"estimated_torque_nm":0.9727678894996643,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012226800434291363,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026684708427637815,"velocity_rad_s":0.008757522329688072,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03909371420741081,"velocity_rad_s":0.005670353304594755,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30612504482269287,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20383968949317932,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909396171569824,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,38],"voltage_raw":53.0,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024567661806941032,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.3062500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21407420933246613,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03647998347878456,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.824275016784668,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05878262594342232,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788425881632,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810493,"imu":{"quaternion":[0.9903855919837952,-0.0011717129964381456,0.01644212380051613,0.13734881579875946],"gyroscope":[-0.0010652643395587802,0.06391585618257523,-0.0074568502604961395],"accelerometer":[-0.20021511614322662,0.15083470940589905,9.783605575561523],"rpy":[0.002196907065808773,0.03289588540792465,0.2756425440311432],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3481539785861969,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011717909015715122,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00036158118746243417,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631659209728241,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094402551651001,"velocity_rad_s":0.08783289790153503,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010748807340860367,"velocity_rad_s":-0.11447262763977051,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3511452376842499,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012459333054721355,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009856435470283031,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977156162261963,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-17.2265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3025093078613281,"velocity_rad_s":0.033081937581300735,"acceleration_raw":0.0,"estimated_torque_nm":-1.5307374000549316,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007910900749266148,"velocity_rad_s":0.04328575357794762,"acceleration_raw":0.0,"estimated_torque_nm":0.9727678894996643,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012226800434291363,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002676074393093586,"velocity_rad_s":0.010703638195991516,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03909866139292717,"velocity_rad_s":0.006930431351065636,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30612504482269287,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20383968949317932,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909515976905823,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024627583101391792,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.29374998807907104,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007442203816026449,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21406222879886627,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17882861196994781,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.824275016784668,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788428487456,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810494,"imu":{"quaternion":[0.9903857707977295,-0.001175287994556129,0.016466733068227768,0.13734520971775055],"gyroscope":[-0.0031957929022610188,0.059654802083969116,-0.008522114716470242],"accelerometer":[-0.1463455855846405,0.26665422320365906,9.773730278015137],"rpy":[0.0021964702755212784,0.03294563665986061,0.2756354510784149],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3481625020503998,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011692342348396778,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00037497308221645653,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631659209728241,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30940309166908264,"velocity_rad_s":0.0788162499666214,"acceleration_raw":0.0,"estimated_torque_nm":1.2671396732330322,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010683814994990826,"velocity_rad_s":-0.11360465735197067,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125101625919342,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35116228461265564,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01245081052184105,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009843043051660061,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977156162261963,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-17.138671875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3025011122226715,"velocity_rad_s":0.03098752722144127,"acceleration_raw":0.0,"estimated_torque_nm":-1.5307374000549316,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.007925310172140598,"velocity_rad_s":0.03959577903151512,"acceleration_raw":0.0,"estimated_torque_nm":0.9727678894996643,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012200016528367996,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002683676313608885,"velocity_rad_s":0.013623977079987526,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0390937402844429,"velocity_rad_s":0.0012419065460562706,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.306113064289093,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20385167002677917,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9909515976905823,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-1.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024711472913622856,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.3062500059604645,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007430219557136297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21407420933246613,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17884059250354767,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8242989778518677,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014057496562600136,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788431414496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810516,"imu":{"quaternion":[0.9903819561004639,-0.0012351477053016424,0.017024312168359756,0.13730382919311523],"gyroscope":[0.0031957929022610188,0.07669903337955475,-0.0053263213485479355],"accelerometer":[-0.27742812037467957,0.13287819921970367,9.690232276916504],"rpy":[0.0022297657560557127,0.03406691178679466,0.2755562961101532],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3478216230869293,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.000709770480170846,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315739750862122,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093493580818176,"velocity_rad_s":-0.004258851520717144,"acceleration_raw":0.0,"estimated_torque_nm":1.6292777061462402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010604421608150005,"velocity_rad_s":-0.007451271638274193,"acceleration_raw":0.0,"estimated_torque_nm":-0.41655972599983215,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510770797729492,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012544553726911545,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009762692265212536,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.0,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976900458335876,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-16.34765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3015030026435852,"velocity_rad_s":0.11576378345489502,"acceleration_raw":0.0,"estimated_torque_nm":-0.8974566459655762,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009683811105787754,"velocity_rad_s":0.19645555317401886,"acceleration_raw":0.0,"estimated_torque_nm":0.925107479095459,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.012039314024150372,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026684768963605165,"velocity_rad_s":-0.0009730579913593829,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039133187383413315,"velocity_rad_s":-0.000630039197858423,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3053940236568451,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20395952463150024,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9908317923545837,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024891234934329987,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007406251039355993,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2145535796880722,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787806749343872,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243349194526672,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788432089376,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810516,"imu":{"quaternion":[0.9903826713562012,-0.001245129737071693,0.017086783424019814,0.1372908651828766],"gyroscope":[-0.0074568502604961395,0.07030744105577469,-0.015978964045643806],"accelerometer":[-0.16430209577083588,0.14365209639072418,9.694721221923828],"rpy":[0.0022267119493335485,0.034193459898233414,0.27553048729896545],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3477960526943207,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0007633380591869354,"velocity_rad_s":0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315739750862122,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093576431274414,"velocity_rad_s":-0.0026543578132987022,"acceleration_raw":0.0,"estimated_torque_nm":1.6292777061462402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010618877597153187,"velocity_rad_s":-0.0009455065592192113,"acceleration_raw":0.0,"estimated_torque_nm":-0.41655972599983215,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510940968990326,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012536032125353813,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009749299846589565,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976815223693848,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-16.259765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3013966679573059,"velocity_rad_s":0.12881825864315033,"acceleration_raw":0.0,"estimated_torque_nm":-0.8974566459655762,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009871188551187515,"velocity_rad_s":0.22507968544960022,"acceleration_raw":0.0,"estimated_torque_nm":0.925107479095459,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011999138630926609,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026684768963605165,"velocity_rad_s":0.0009738347143866122,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039133187383413315,"velocity_rad_s":-0.004422388970851898,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3052981495857239,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039475440979004,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9908198118209839,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024891234934329987,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2145296186208725,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787806749343872,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243229389190674,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788434017056,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810517,"imu":{"quaternion":[0.9903832674026489,-0.0012517031282186508,0.0171152725815773,0.1372831165790558],"gyroscope":[-0.0074568502604961395,0.06817691773176193,-0.017044229432940483],"accelerometer":[-0.16430209577083588,0.14365209639072418,9.694721221923828],"rpy":[0.0022212485782802105,0.03425173461437225,0.27551496028900146],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34777048230171204,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0007365542696788907,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315654516220093,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093576431274414,"velocity_rad_s":-0.0021331380121409893,"acceleration_raw":0.0,"estimated_torque_nm":1.6292777061462402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010618877597153187,"velocity_rad_s":-0.005581405013799667,"acceleration_raw":0.0,"estimated_torque_nm":-0.41655972599983215,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510856032371521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012518987990915775,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00973590835928917,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976985692977905,"velocity_rad_s":0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-16.34765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3012821078300476,"velocity_rad_s":0.13040094077587128,"acceleration_raw":0.0,"estimated_torque_nm":-0.8974566459655762,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01007299404591322,"velocity_rad_s":0.22599323093891144,"acceleration_raw":0.0,"estimated_torque_nm":0.925107479095459,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011999138630926609,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002683680970221758,"velocity_rad_s":0.00778562854975462,"acceleration_raw":0.0,"estimated_torque_nm":-0.5896939635276794,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03912334516644478,"velocity_rad_s":-0.0025383285246789455,"acceleration_raw":0.0,"estimated_torque_nm":0.9107471108436584,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3052382171154022,"velocity_rad_s":-0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9908317923545837,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024879250675439835,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007394266780465841,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21454159915447235,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787806749343872,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243349194526672,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788436269152,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810518,"imu":{"quaternion":[0.9903832674026489,-0.0012517031282186508,0.0171152725815773,0.1372831165790558],"gyroscope":[-0.0074568502604961395,0.06817691773176193,-0.017044229432940483],"accelerometer":[-0.16430209577083588,0.14365209639072418,9.694721221923828],"rpy":[0.0022212485782802105,0.03425173461437225,0.27551496028900146],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34777048230171204,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011751997284591198,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0007633380591869354,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315654516220093,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093617558479309,"velocity_rad_s":-0.0016044938238337636,"acceleration_raw":0.0,"estimated_torque_nm":1.6292777061462402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010626097209751606,"velocity_rad_s":-0.0065057650208473206,"acceleration_raw":0.0,"estimated_torque_nm":-0.41655972599983215,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510856032371521,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012527509592473507,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009722515940666199,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976900458335876,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-16.435546875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3011798560619354,"velocity_rad_s":0.1340661644935608,"acceleration_raw":0.0,"estimated_torque_nm":-0.8974566459655762,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010253166779875755,"velocity_rad_s":0.2324506938457489,"acceleration_raw":0.0,"estimated_torque_nm":0.925107479095459,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011972354725003242,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.9575639963150024,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026684768963605165,"velocity_rad_s":-0.0038922319654375315,"acceleration_raw":0.0,"estimated_torque_nm":-0.638835072517395,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039133187383413315,"velocity_rad_s":-0.002520156791433692,"acceleration_raw":0.0,"estimated_torque_nm":0.9866427183151245,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3051902651786804,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20395952463150024,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907958507537842,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024879250675439835,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007370298728346825,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2145535796880722,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787566989660263,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243468999862671,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788437886816,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810519,"imu":{"quaternion":[0.990383505821228,-0.001255694543942809,0.017141440883278847,0.13727739453315735],"gyroscope":[-0.0031957929022610188,0.06285059452056885,-0.012783171609044075],"accelerometer":[-0.25588029623031616,0.22176292538642883,9.796175956726074],"rpy":[0.0022203342523425817,0.03430468589067459,0.27550357580184937],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3477534353733063,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0007633380591869354,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315739750862122,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30937841534614563,"velocity_rad_s":-0.004288549069315195,"acceleration_raw":0.0,"estimated_torque_nm":1.6292777061462402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010596981272101402,"velocity_rad_s":-0.02229742333292961,"acceleration_raw":0.0,"estimated_torque_nm":-0.41655972599983215,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510856032371521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012527509592473507,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009709124453365803,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977070927619934,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-16.259765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3010121285915375,"velocity_rad_s":0.12104728072881699,"acceleration_raw":0.0,"estimated_torque_nm":-0.8974566459655762,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010548652149736881,"velocity_rad_s":0.19826480746269226,"acceleration_raw":0.0,"estimated_torque_nm":0.925107479095459,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011972354725003242,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002676080446690321,"velocity_rad_s":-0.008757522329688072,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03913813456892967,"velocity_rad_s":-0.005670353304594755,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30510640144348145,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.990807831287384,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024879250675439835,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007382282521575689,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2145535796880722,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787566989660263,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243468999862671,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788426754688,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":41984,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":33792,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":29440,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":29696,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":44032,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0}],"touch_metric":0.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":788438969664,"stream":"brainco.motor","data":{"currents":[8,-102,18,1,-16,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [8, -102, 18, 1, -16, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":788439432448,"stream":"controller.decision","data":{"state":"hold","close_value":0,"command_close":null,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":null,"touch_metric":0.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.0}} +{"timestamp_monotonic_ns":788444154432,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810520,"imu":{"quaternion":[0.9903842806816101,-0.0012591877020895481,0.017192238941788673,0.1372658610343933],"gyroscope":[0.0010652643395587802,0.06178532913327217,-0.013848436065018177],"accelerometer":[-0.23343466222286224,0.1041477769613266,9.69382381439209],"rpy":[0.0022269750479608774,0.03440632298588753,0.2754807472229004],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3477449119091034,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0007767299539409578,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315484046936035,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30937841534614563,"velocity_rad_s":-0.004813481122255325,"acceleration_raw":0.0,"estimated_torque_nm":1.5385715961456299,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010596981272101402,"velocity_rad_s":-0.01951729506254196,"acceleration_raw":0.0,"estimated_torque_nm":-0.36471569538116455,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510856032371521,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012536032125353813,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009709124453365803,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976815223693848,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-16.34765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.300975501537323,"velocity_rad_s":0.1052679792046547,"acceleration_raw":0.0,"estimated_torque_nm":-0.8974566459655762,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010642489418387413,"velocity_rad_s":0.1817135065793991,"acceleration_raw":0.0,"estimated_torque_nm":0.925107479095459,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011945570819079876,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002676081843674183,"velocity_rad_s":-0.009730386547744274,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0391480028629303,"velocity_rad_s":-0.007563499268144369,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30498653650283813,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-0.625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039475440979004,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907958507537842,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02490321919322014,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007370298728346825,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2146254926919937,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17874471843242645,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243229389190674,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788446331136,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810521,"imu":{"quaternion":[0.9903842806816101,-0.0012591877020895481,0.017192238941788673,0.1372658610343933],"gyroscope":[0.0010652643395587802,0.06178532913327217,-0.013848436065018177],"accelerometer":[-0.23343466222286224,0.1041477769613266,9.69382381439209],"rpy":[0.0022269750479608774,0.03440632298588753,0.2754807472229004],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3477449119091034,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0008035137434490025,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315569281578064,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30938252806663513,"velocity_rad_s":-0.007996483705937862,"acceleration_raw":0.0,"estimated_torque_nm":1.6292777061462402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010604200884699821,"velocity_rad_s":-0.01953844167292118,"acceleration_raw":0.0,"estimated_torque_nm":-0.41655972599983215,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510770797729492,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012544553726911545,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009695732034742832,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976815223693848,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-16.435546875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009509742259979,"velocity_rad_s":0.08901255577802658,"acceleration_raw":0.0,"estimated_torque_nm":-0.8064892888069153,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010685736313462257,"velocity_rad_s":0.1568240374326706,"acceleration_raw":0.0,"estimated_torque_nm":0.9774037599563599,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.01193217933177948,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-1.9016335010528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002676081843674183,"velocity_rad_s":-0.010703831911087036,"acceleration_raw":0.0,"estimated_torque_nm":-0.5403165221214294,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0391480028629303,"velocity_rad_s":-0.005667324177920818,"acceleration_raw":0.0,"estimated_torque_nm":0.9866578578948975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3048906624317169,"velocity_rad_s":-0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907838106155396,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024891234934329987,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007370298728346825,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21469739079475403,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787566989660263,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243468999862671,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788448303168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810522,"imu":{"quaternion":[0.9903846383094788,-0.0012604051735252142,0.01722097210586071,0.1372600793838501],"gyroscope":[0.0031957929022610188,0.06711164861917496,-0.012783171609044075],"accelerometer":[-0.2630629241466522,0.1256955862045288,9.703699111938477],"rpy":[0.0022322593722492456,0.03446359932422638,0.2754693627357483],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34771934151649475,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0008570813224650919,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315569281578064,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093990981578827,"velocity_rad_s":-0.01170813012868166,"acceleration_raw":0.0,"estimated_torque_nm":1.9907292127609253,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010604090988636017,"velocity_rad_s":-0.018635228276252747,"acceleration_raw":0.0,"estimated_torque_nm":-0.41728276014328003,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510940968990326,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012536032125353813,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976474285125732,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-15.380859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.300942599773407,"velocity_rad_s":0.06285612285137177,"acceleration_raw":0.0,"estimated_torque_nm":-0.3542705178260803,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010671168565750122,"velocity_rad_s":0.1069914698600769,"acceleration_raw":0.0,"estimated_torque_nm":0.9285843968391418,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011905395425856113,"velocity_rad_s":-0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026988880708813667,"velocity_rad_s":0.0009730579913593829,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039133235812187195,"velocity_rad_s":0.000630039197858423,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3048187792301178,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907718300819397,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024879250675439835,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.26875001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007370298728346825,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21475732326507568,"velocity_rad_s":0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17874471843242645,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243349194526672,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788450462528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810523,"imu":{"quaternion":[0.9903846979141235,-0.0012655489845201373,0.01725078746676445,0.13725543022155762],"gyroscope":[-0.004261057358235121,0.07030744105577469,-0.010652642697095871],"accelerometer":[-0.2630629241466522,0.1256955862045288,9.703699111938477],"rpy":[0.002230098471045494,0.0345240943133831,0.2754601538181305],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.347702294588089,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01179460808634758,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0008838651119731367,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315569281578064,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30938252806663513,"velocity_rad_s":-0.0005657662404701114,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010604200884699821,"velocity_rad_s":-0.017633330076932907,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35106855630874634,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012544553726911545,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00965555664151907,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-15.380859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009503185749054,"velocity_rad_s":0.036901429295539856,"acceleration_raw":0.0,"estimated_torque_nm":-0.2641758322715759,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01058434508740902,"velocity_rad_s":0.025642210617661476,"acceleration_raw":0.0,"estimated_torque_nm":0.8774470686912537,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011878611519932747,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002706491621211171,"velocity_rad_s":0.001947280834428966,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039138179272413254,"velocity_rad_s":-0.006318564061075449,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30475884675979614,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907598495483398,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024867268279194832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.214829221367836,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787566989660263,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243349194526672,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788452450784,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810524,"imu":{"quaternion":[0.9903844594955444,-0.0012733276234939694,0.017307760193943977,0.13725030422210693],"gyroscope":[-0.0021305286791175604,0.06711164861917496,-0.0063915858045220375],"accelerometer":[-0.353743314743042,0.15083470940589905,9.829395294189453],"rpy":[0.0022301622666418552,0.03463912755250931,0.2754502296447754],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.347702294588089,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011777563951909542,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0009240407962352037,"velocity_rad_s":0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315654516220093,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30937841534614563,"velocity_rad_s":-0.0010832740226760507,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010596981272101402,"velocity_rad_s":-0.011141663417220116,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3510429859161377,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012561597861349583,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-15.46875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009457588195801,"velocity_rad_s":0.030213255435228348,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010519134812057018,"velocity_rad_s":-0.0048894514329731464,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011838436126708984,"velocity_rad_s":-0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002729299245402217,"velocity_rad_s":0.017517181113362312,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039133284240961075,"velocity_rad_s":-0.002553472062572837,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3046989142894745,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.99074786901474,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14571619033813477,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024879250675439835,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21493707597255707,"velocity_rad_s":0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787566989660263,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243588805198669,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788454488000,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810525,"imu":{"quaternion":[0.9903844594955444,-0.0012733276234939694,0.017307760193943977,0.13725030422210693],"gyroscope":[-0.0021305286791175604,0.06711164861917496,-0.0063915858045220375],"accelerometer":[-0.353743314743042,0.15083470940589905,9.829395294189453],"rpy":[0.0022301622666418552,0.03463912755250931,0.2754502296447754],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34766823053359985,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011786085553467274,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0009642164804972708,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315398812294006,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093700706958771,"velocity_rad_s":0.0005137954140082002,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010611549019813538,"velocity_rad_s":-0.008347436785697937,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35100889205932617,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012621252797544003,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009682340547442436,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-15.46875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009454011917114,"velocity_rad_s":0.021883072331547737,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010461200028657913,"velocity_rad_s":-0.027065055444836617,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011811652220785618,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002736899768933654,"velocity_rad_s":0.012650919146835804,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03911849111318588,"velocity_rad_s":0.0006118675228208303,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30457907915115356,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.99074786901474,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024879250675439835,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21518874168395996,"velocity_rad_s":0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17874471843242645,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243588805198669,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788456466080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810526,"imu":{"quaternion":[0.9903842806816101,-0.0012723052641376853,0.017339246347546577,0.13724760711193085],"gyroscope":[0.008522114716470242,0.07137271016836166,-0.0063915858045220375],"accelerometer":[-0.3725976347923279,0.114023856818676,9.799766540527344],"rpy":[0.0022407483775168657,0.03470123931765556,0.27544519305229187],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34766823053359985,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011803129687905312,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0010311759542673826,"velocity_rad_s":0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315398812294006,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093700408935547,"velocity_rad_s":0.0010461518540978432,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010626042261719704,"velocity_rad_s":-0.007416027132421732,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35096627473831177,"velocity_rad_s":0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012655341066420078,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009682340547442436,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-15.46875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30095356702804565,"velocity_rad_s":0.018205981701612473,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010446790605783463,"velocity_rad_s":-0.03166859224438667,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011784868314862251,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002729297848418355,"velocity_rad_s":0.0009732521721161902,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03912341594696045,"velocity_rad_s":-0.0006330678588710725,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3045191764831543,"velocity_rad_s":-0.11811652779579163,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907239079475403,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024879250675439835,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21530859172344208,"velocity_rad_s":0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17874471843242645,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8243948817253113,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788458098080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810527,"imu":{"quaternion":[0.9903841018676758,-0.001272971392609179,0.017371036112308502,0.13724493980407715],"gyroscope":[0.0053263213485479355,0.07243797183036804,-0.0063915858045220375],"accelerometer":[-0.2720411717891693,0.12120646238327026,9.862614631652832],"rpy":[0.002248072065412998,0.03476441651582718,0.27544015645980835],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.347659707069397,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011803129687905312,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.001044567907229066,"velocity_rad_s":0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315313577651978,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093700706958771,"velocity_rad_s":-0.0032126998994499445,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010611549019813538,"velocity_rad_s":-0.014867299236357212,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3509407043457031,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012680907733738422,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-15.556640625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009452223777771,"velocity_rad_s":0.014457691460847855,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01043224148452282,"velocity_rad_s":-0.025148587301373482,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011758084408938885,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027521068695932627,"velocity_rad_s":0.0077860173769295216,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0391283854842186,"velocity_rad_s":-0.00506454287096858,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30445924401283264,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907239079475403,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024879250675439835,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.215428426861763,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.824418842792511,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788461296064,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810528,"imu":{"quaternion":[0.9903839230537415,-0.0012770668836310506,0.017400195822119713,0.1372423768043518],"gyroscope":[-0.0021305286791175604,0.06817691773176193,-0.0063915858045220375],"accelerometer":[-0.2720411717891693,0.12120646238327026,9.862614631652832],"rpy":[0.0022478799801319838,0.03482332080602646,0.2754351794719696],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34762561321258545,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01179460808634758,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0010311759542673826,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315313577651978,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30937421321868896,"velocity_rad_s":-0.002140562515705824,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010618767701089382,"velocity_rad_s":-0.00929294340312481,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3509407043457031,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012714996002614498,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.2863991260528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-15.46875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009493947029114,"velocity_rad_s":0.010126463137567043,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010439516045153141,"velocity_rad_s":-0.010281459428369999,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011677732691168785,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":-1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002729299245402217,"velocity_rad_s":0.0009740288951434195,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039133284240961075,"velocity_rad_s":-0.0056854961439967155,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30438733100891113,"velocity_rad_s":-0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9907239079475403,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024867268279194832,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21554827690124512,"velocity_rad_s":0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17874471843242645,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8244428038597107,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788461940672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810529,"imu":{"quaternion":[0.9903839230537415,-0.0012813417706638575,0.01742660440504551,0.1372387707233429],"gyroscope":[-0.0031957929022610188,0.06285059452056885,-0.008522114716470242],"accelerometer":[-0.23253683745861053,0.15442600846290588,9.944316864013672],"rpy":[0.002246539108455181,0.034876830875873566,0.27542802691459656],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34761708974838257,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011777563951909542,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.001084743533283472,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315313577651978,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30937841534614563,"velocity_rad_s":-0.004266276024281979,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010596981272101402,"velocity_rad_s":-0.011162810027599335,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3509151339530945,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012749084271490574,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976815223693848,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-15.46875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30094531178474426,"velocity_rad_s":0.012232743203639984,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010446720756590366,"velocity_rad_s":-0.008445406332612038,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011677732691168785,"velocity_rad_s":-0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027216956950724125,"velocity_rad_s":0.002920144936069846,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03912833705544472,"velocity_rad_s":-0.004425417631864548,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30423155426979065,"velocity_rad_s":-0.13192234933376312,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9906999468803406,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02485528402030468,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21578796207904816,"velocity_rad_s":0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17874471843242645,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8244547843933105,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788464161696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810530,"imu":{"quaternion":[0.9903839826583862,-0.0012855920940637589,0.01745297946035862,0.13723516464233398],"gyroscope":[-0.0031957929022610188,0.06285059452056885,-0.008522114716470242],"accelerometer":[-0.2406172752380371,0.16968904435634613,9.980229377746582],"rpy":[0.0022452366538345814,0.034930262714624405,0.2754209041595459],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3475659489631653,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011811652220785618,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0011249192757532,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631514310836792,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309386670589447,"velocity_rad_s":-0.004791208077222109,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01061142049729824,"velocity_rad_s":-0.00838268082588911,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3509066104888916,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012766129337251186,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-15.46875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30093711614608765,"velocity_rad_s":0.009590993635356426,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010461130179464817,"velocity_rad_s":-0.009350031614303589,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011704516597092152,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002729299245402217,"velocity_rad_s":0.0038930086884647608,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039133284240961075,"velocity_rad_s":-0.00253227143548429,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3041476607322693,"velocity_rad_s":-0.1365242898464203,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9906999468803406,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02485528402030468,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21589581668376923,"velocity_rad_s":0.15800002217292786,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787327378988266,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8244667649269104,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.022003037855029106,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788465807552,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810531,"imu":{"quaternion":[0.990384578704834,-0.001288031111471355,0.017473099753260612,0.1372283548116684],"gyroscope":[-0.0010652643395587802,0.05006742104887962,-0.014913700520992279],"accelerometer":[-0.1975216418504715,0.10863690078258514,9.86889934539795],"rpy":[0.0022456918377429247,0.03497081249952316,0.2754073143005371],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3475574254989624,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011786085553467274,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0011249192757532,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631514310836792,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309386670589447,"velocity_rad_s":-7.4244294410164e-06,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01061142049729824,"velocity_rad_s":-0.0037115381564944983,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35087254643440247,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012783173471689224,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00965555664151907,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-15.46875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30094531178474426,"velocity_rad_s":0.005866437219083309,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010446720756590366,"velocity_rad_s":-0.006537874229252338,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011637557297945023,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.845703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002729297848418355,"velocity_rad_s":0.0038922319654375315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03912341594696045,"velocity_rad_s":0.002520156791433692,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3040637671947479,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9906879663467407,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024843299761414528,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2159797102212906,"velocity_rad_s":0.15033012628555298,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8245146870613098,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788468711360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810532,"imu":{"quaternion":[0.990385115146637,-0.001288866507820785,0.017493445426225662,0.13722150027751923],"gyroscope":[0.0021305286791175604,0.05006742104887962,-0.014913700520992279],"accelerometer":[-0.2630629241466522,0.166995570063591,9.78719711303711],"rpy":[0.002249385230243206,0.03501136973500252,0.2753937244415283],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3475574254989624,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011769041419029236,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0011517030652612448,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6315057873725891,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3093907833099365,"velocity_rad_s":-0.00530129112303257,"acceleration_raw":0.0,"estimated_torque_nm":2.1721413135528564,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01061864010989666,"velocity_rad_s":0.00182052468881011,"acceleration_raw":0.0,"estimated_torque_nm":-0.5209708213806152,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35087254643440247,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.012825783342123032,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009628772735595703,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-15.380859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30096176266670227,"velocity_rad_s":-0.0015352092450484633,"acceleration_raw":0.0,"estimated_torque_nm":-0.17408111691474915,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010432380251586437,"velocity_rad_s":-0.00832925271242857,"acceleration_raw":0.0,"estimated_torque_nm":0.8263097405433655,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.011557205580174923,"velocity_rad_s":-0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":-1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002729299245402217,"velocity_rad_s":0.004865290131419897,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039133284240961075,"velocity_rad_s":0.003150196047499776,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30397987365722656,"velocity_rad_s":-0.1395922601222992,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9906759858131409,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024843299761414528,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21608756482601166,"velocity_rad_s":0.1426602154970169,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8245266675949097,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788469353760,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810556,"imu":{"quaternion":[0.9904085397720337,-0.0013148901052772999,0.018191281706094742,0.13696147501468658],"gyroscope":[0.0031957929022610188,0.06391585618257523,-0.024501079693436623],"accelerometer":[-0.5467758178710938,0.13377602398395538,9.477447509765625],"rpy":[0.0023800318595021963,0.03640181943774223,0.27487602829933167],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3470120131969452,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.002236446598544717,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313098073005676,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30957308411598206,"velocity_rad_s":-0.011671007610857487,"acceleration_raw":0.0,"estimated_torque_nm":2.7150051593780518,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01064643356949091,"velocity_rad_s":-7.753723184578121e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.6253818869590759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3506253957748413,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013396765105426311,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976815223693848,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-14.677734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009202778339386,"velocity_rad_s":-0.007366045843809843,"acceleration_raw":0.0,"estimated_torque_nm":0.5492944121360779,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010417534038424492,"velocity_rad_s":-0.00735315028578043,"acceleration_raw":0.0,"estimated_torque_nm":0.727512001991272,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010110881179571152,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002706486964598298,"velocity_rad_s":0.003892426146194339,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039108578115701675,"velocity_rad_s":0.0012570497347041965,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3016429543495178,"velocity_rad_s":-0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040434181690216,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004997421987354755,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024771394208073616,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2195989489555359,"velocity_rad_s":0.1595340073108673,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03658783808350563,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251258730888367,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788471628544,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810557,"imu":{"quaternion":[0.9904096126556396,-0.0013150284066796303,0.018220892176032066,0.13694927096366882],"gyroscope":[0.0063915858045220375,0.0649811252951622,-0.02556634321808815],"accelerometer":[-0.5467758178710938,0.13377602398395538,9.477447509765625],"rpy":[0.00238743145018816,0.036460552364587784,0.2748516798019409],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34699496626853943,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.002276622224599123,"velocity_rad_s":0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6313012838363647,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30957725644111633,"velocity_rad_s":-0.008502854034304619,"acceleration_raw":0.0,"estimated_torque_nm":2.7150051593780518,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010639159008860588,"velocity_rad_s":-0.007479466497898102,"acceleration_raw":0.0,"estimated_torque_nm":-0.6253818869590759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3506168723106384,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013430854305624962,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976474285125732,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-14.765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009161949157715,"velocity_rad_s":-0.002141880104318261,"acceleration_raw":0.0,"estimated_torque_nm":0.5492944121360779,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010424738749861717,"velocity_rad_s":0.0037257166113704443,"acceleration_raw":0.0,"estimated_torque_nm":0.727512001991272,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010084097273647785,"velocity_rad_s":-0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002706486964598298,"velocity_rad_s":-0.003892620326951146,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039108578115701675,"velocity_rad_s":6.057302471162984e-06,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30158302187919617,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.990436315536499,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024747425690293312,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2197187840938568,"velocity_rad_s":0.14879614114761353,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03658783808350563,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251378536224365,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788473591328,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810558,"imu":{"quaternion":[0.9904106259346008,-0.0013137790374457836,0.018251905217766762,0.13693757355213165],"gyroscope":[0.009587379172444344,0.06711164861917496,-0.024501079693436623],"accelerometer":[-0.5467758178710938,0.09696517139673233,9.499893188476562],"rpy":[0.0023979831021279097,0.03652169182896614,0.2748284637928009],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34699496626853943,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.002356973709538579,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.631284236907959,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30957725644111633,"velocity_rad_s":-0.006905784830451012,"acceleration_raw":0.0,"estimated_torque_nm":2.7150051593780518,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010639159008860588,"velocity_rad_s":-0.0046852403320372105,"acceleration_raw":0.0,"estimated_torque_nm":-0.6253818869590759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3506253957748413,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013447898440063,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009240408428013325,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976729989051819,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-14.765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009284734725952,"velocity_rad_s":-0.0036770892329514027,"acceleration_raw":0.0,"estimated_torque_nm":0.5492944121360779,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010403124615550041,"velocity_rad_s":-0.0046035367995500565,"acceleration_raw":0.0,"estimated_torque_nm":0.727512001991272,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.010030529461801052,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026988850440829992,"velocity_rad_s":-0.002919368213042617,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039113499224185944,"velocity_rad_s":-0.0006270105368457735,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3015231192111969,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20403143763542175,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.990436315536499,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024771394208073616,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21981465816497803,"velocity_rad_s":0.13499031960964203,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251738548278809,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788475496096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810559,"imu":{"quaternion":[0.9904114603996277,-0.0013105121906846762,0.018284279853105545,0.13692741096019745],"gyroscope":[0.013848436065018177,0.06924217939376831,-0.021305285394191742],"accelerometer":[-0.45340195298194885,0.15083470940589905,9.641749382019043],"rpy":[0.002412962494418025,0.03658497333526611,0.27480846643447876],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34698644280433655,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0024373249616473913,"velocity_rad_s":0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312757134437561,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3095937967300415,"velocity_rad_s":-0.008495429530739784,"acceleration_raw":0.0,"estimated_torque_nm":2.7150051593780518,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010653560981154442,"velocity_rad_s":-0.0037679290398955345,"acceleration_raw":0.0,"estimated_torque_nm":-0.6253818869590759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3506253957748413,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013464942574501038,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009200232103466988,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976559519767761,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-14.677734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009243905544281,"velocity_rad_s":-0.004748029634356499,"acceleration_raw":0.0,"estimated_torque_nm":0.5492944121360779,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010410329326987267,"velocity_rad_s":-0.0027406783774495125,"acceleration_raw":0.0,"estimated_torque_nm":0.727512001991272,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00999035406857729,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002706486964598298,"velocity_rad_s":0.0038930086884647608,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039108578115701675,"velocity_rad_s":-0.00253227143548429,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30143922567367554,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20403143763542175,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004997421987354755,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904243350028992,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024807346984744072,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007250456139445305,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.21994648873806,"velocity_rad_s":0.14112624526023865,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788477119488,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810560,"imu":{"quaternion":[0.9904122948646545,-0.0013078409247100353,0.01831759698688984,0.13691726326942444],"gyroscope":[0.012783171609044075,0.07137271016836166,-0.021305285394191742],"accelerometer":[-0.395043283700943,0.21098902821540833,9.686640739440918],"rpy":[0.0024270194116979837,0.03665028139948845,0.274788498878479],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34698644280433655,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011828696355223656,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0024775005877017975,"velocity_rad_s":0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312757134437561,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096020817756653,"velocity_rad_s":-0.009035211056470871,"acceleration_raw":0.0,"estimated_torque_nm":2.7150051593780518,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01065350603312254,"velocity_rad_s":-0.00841087568551302,"acceleration_raw":0.0,"estimated_torque_nm":-0.6253818869590759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3506168723106384,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013456420041620731,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009200232103466988,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-14.765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009284734725952,"velocity_rad_s":-0.004200692754238844,"acceleration_raw":0.0,"estimated_torque_nm":0.5492944121360779,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010403124615550041,"velocity_rad_s":-0.005526031367480755,"acceleration_raw":0.0,"estimated_torque_nm":0.727512001991272,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00992339476943016,"velocity_rad_s":-0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027140891179442406,"velocity_rad_s":0.0019461159827187657,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03910365328192711,"velocity_rad_s":0.001260078395716846,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3013073801994324,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904243350028992,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024771394208073616,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22006632387638092,"velocity_rad_s":0.1533980816602707,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03658783808350563,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251858353614807,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021991053596138954,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788479358464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810561,"imu":{"quaternion":[0.9904131293296814,-0.0013057671021670103,0.018348056823015213,0.13690657913684845],"gyroscope":[0.010652642697095871,0.06604638695716858,-0.02237055078148842],"accelerometer":[-0.3546411395072937,0.24510639905929565,9.681253433227539],"rpy":[0.0024390877224504948,0.036710090935230255,0.27476733922958374],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3469608724117279,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011828696355223656,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0025176764465868473,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312757134437561,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096062242984772,"velocity_rad_s":-0.012214500457048416,"acceleration_raw":0.0,"estimated_torque_nm":2.7150051593780518,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010660725645720959,"velocity_rad_s":-0.006576253101229668,"acceleration_raw":0.0,"estimated_torque_nm":-0.6253818869590759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35064244270324707,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01347346417605877,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009200232103466988,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-14.677734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009243905544281,"velocity_rad_s":-0.0015708096325397491,"acceleration_raw":0.0,"estimated_torque_nm":0.5492944121360779,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010410329326987267,"velocity_rad_s":-0.0027674827724695206,"acceleration_raw":0.0,"estimated_torque_nm":0.727512001991272,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009843043051660061,"velocity_rad_s":-0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026988850440829992,"velocity_rad_s":-0.006813153624534607,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039113499224185944,"velocity_rad_s":0.0069576893001794815,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30125945806503296,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024771394208073616,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22032998502254486,"velocity_rad_s":0.18100973963737488,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03656386956572533,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788481286592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810562,"imu":{"quaternion":[0.9904146790504456,-0.0013042433420196176,0.01837838441133499,0.13689173758029938],"gyroscope":[0.009587379172444344,0.06604638695716858,-0.030892664566636086],"accelerometer":[-0.3546411395072937,0.24510639905929565,9.681253433227539],"rpy":[0.0024498729035258293,0.0367698073387146,0.2747378349304199],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34698644280433655,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.002611419651657343,"velocity_rad_s":0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312330961227417,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30961039662361145,"velocity_rad_s":-0.011149787344038486,"acceleration_raw":0.0,"estimated_torque_nm":2.7150051593780518,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010653432458639145,"velocity_rad_s":-0.004713435657322407,"acceleration_raw":0.0,"estimated_torque_nm":-0.6253818869590759,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3506339192390442,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01347346417605877,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009173448197543621,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976559519767761,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-14.677734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009326457977295,"velocity_rad_s":-0.0073779127560555935,"acceleration_raw":0.0,"estimated_torque_nm":0.5492944121360779,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010410399176180363,"velocity_rad_s":-0.0054992265067994595,"acceleration_raw":0.0,"estimated_torque_nm":0.727512001991272,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009789476171135902,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027140891179442406,"velocity_rad_s":0.003891843371093273,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03910365328192711,"velocity_rad_s":0.005046370904892683,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30116358399391174,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024771394208073616,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22043783962726593,"velocity_rad_s":0.17947575449943542,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03658783808350563,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251858353614807,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788484516448,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810563,"imu":{"quaternion":[0.9904146790504456,-0.0013042433420196176,0.01837838441133499,0.13689173758029938],"gyroscope":[0.009587379172444344,0.06604638695716858,-0.030892664566636086],"accelerometer":[-0.3546411395072937,0.24510639905929565,9.681253433227539],"rpy":[0.0024498729035258293,0.0367698073387146,0.2747378349304199],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34698644280433655,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0026649872306734324,"velocity_rad_s":0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312245726585388,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964353680610657,"velocity_rad_s":-0.020166438072919846,"acceleration_raw":0.0,"estimated_torque_nm":2.8964173793792725,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010653212666511536,"velocity_rad_s":-0.003845466300845146,"acceleration_raw":0.0,"estimated_torque_nm":-0.7290698885917664,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3506339192390442,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013490508310496807,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976474285125732,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-14.765625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30094102025032043,"velocity_rad_s":-0.007972716353833675,"acceleration_raw":0.0,"estimated_torque_nm":0.822196364402771,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010424948297441006,"velocity_rad_s":0.0047018202021718025,"acceleration_raw":0.0,"estimated_torque_nm":0.8844008445739746,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009762692265212536,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026836779434233904,"velocity_rad_s":-0.002919756341725588,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03910360857844353,"velocity_rad_s":0.0018992035184055567,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3011036515235901,"velocity_rad_s":-0.12271846830844879,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024759409949183464,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.220545694231987,"velocity_rad_s":0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03656386956572533,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251858353614807,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788485163904,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810563,"imu":{"quaternion":[0.9904167652130127,-0.001303770113736391,0.018435576930642128,0.13686896860599518],"gyroscope":[0.0074568502604961395,0.06391585618257523,-0.020240021869540215],"accelerometer":[-0.536899745464325,0.13826514780521393,9.601346969604492],"rpy":[0.002465644618496299,0.03688306361436844,0.274692565202713],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34698644280433655,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.002718554809689522,"velocity_rad_s":0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312330961227417,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964353680610657,"velocity_rad_s":-0.010610006749629974,"acceleration_raw":0.0,"estimated_torque_nm":3.1671628952026367,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010653212666511536,"velocity_rad_s":-7.048839324852452e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.6779488921165466,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3506339192390442,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013481986708939075,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009160056710243225,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976815223693848,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-13.974609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009369373321533,"velocity_rad_s":-0.0048073637299239635,"acceleration_raw":0.0,"estimated_torque_nm":1.0933531522750854,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010432153008878231,"velocity_rad_s":0.0065289391204714775,"acceleration_raw":0.0,"estimated_torque_nm":0.8344225287437439,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00966894906014204,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026988850440829992,"velocity_rad_s":-0.0038930086884647608,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039113499224185944,"velocity_rad_s":0.00253227143548429,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3010437488555908,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024783378466963768,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007262440398335457,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22065354883670807,"velocity_rad_s":0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17867282032966614,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03658783808350563,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788487439328,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810564,"imu":{"quaternion":[0.9904174208641052,-0.0013035654556006193,0.018464889377355576,0.13686048984527588],"gyroscope":[0.0063915858045220375,0.06391585618257523,-0.01810949295759201],"accelerometer":[-0.5674257874488831,0.16160862147808075,9.621099472045898],"rpy":[0.0024737694766372442,0.036941107362508774,0.2746758460998535],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34697791934013367,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.002758730435743928,"velocity_rad_s":0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312160491943359,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096310794353485,"velocity_rad_s":-0.006362291984260082,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01066054217517376,"velocity_rad_s":0.0018134762067347765,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3505827784538269,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013490508310496807,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-13.7109375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3009287416934967,"velocity_rad_s":0.003617755603045225,"acceleration_raw":0.0,"estimated_torque_nm":1.1834478378295898,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010446562431752682,"velocity_rad_s":0.013873154297471046,"acceleration_raw":0.0,"estimated_torque_nm":0.7832852005958557,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009628772735595703,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026912798639386892,"velocity_rad_s":-0.013626113533973694,"acceleration_raw":0.0,"estimated_torque_nm":-0.6877400279045105,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03909868374466896,"velocity_rad_s":0.012652271427214146,"acceleration_raw":0.0,"estimated_torque_nm":1.2143446207046509,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3009238839149475,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904243350028992,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024771394208073616,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.26875001192092896,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.220917209982872,"velocity_rad_s":0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251858353614807,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788489349920,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810565,"imu":{"quaternion":[0.9904174208641052,-0.0013035654556006193,0.018464889377355576,0.13686048984527588],"gyroscope":[0.0063915858045220375,0.06391585618257523,-0.01810949295759201],"accelerometer":[-0.5674257874488831,0.16160862147808075,9.621099472045898],"rpy":[0.0024737694766372442,0.036941107362508774,0.2746758460998535],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34698644280433655,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0028256899677217007,"velocity_rad_s":0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312330961227417,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309626966714859,"velocity_rad_s":-0.001064712880179286,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01065332256257534,"velocity_rad_s":-0.0018628179095685482,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3505401611328125,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013490508310496807,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-13.623046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30090391635894775,"velocity_rad_s":0.015874233096837997,"acceleration_raw":0.0,"estimated_torque_nm":1.274415135383606,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010446371510624886,"velocity_rad_s":0.001719900406897068,"acceleration_raw":0.0,"estimated_torque_nm":0.8355814814567566,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00958859734237194,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026988834142684937,"velocity_rad_s":-0.006813735701143742,"acceleration_raw":0.0,"estimated_torque_nm":-0.6877400279045105,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03910363093018532,"velocity_rad_s":0.010747009888291359,"acceleration_raw":0.0,"estimated_torque_nm":1.2143446207046509,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30084002017974854,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20403143763542175,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.990436315536499,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024771394208073616,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22101308405399323,"velocity_rad_s":0.17947575449943542,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788491242464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810566,"imu":{"quaternion":[0.9904180765151978,-0.0013013595016673207,0.018495136871933937,0.13685137033462524],"gyroscope":[0.010652642697095871,0.0649811252951622,-0.019174758344888687],"accelerometer":[-0.5674257874488831,0.16160862147808075,9.621099472045898],"rpy":[0.0024860939010977745,0.03700046241283417,0.27465784549713135],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.346952348947525,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011854262091219425,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0029194331727921963,"velocity_rad_s":0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312245726585388,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30962276458740234,"velocity_rad_s":-0.0010498639894649386,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010675090365111828,"velocity_rad_s":0.005560258403420448,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35051462054252625,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013516074977815151,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-13.623046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30088311433792114,"velocity_rad_s":0.012220876291394234,"acceleration_raw":0.0,"estimated_torque_nm":1.1834478378295898,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010424477979540825,"velocity_rad_s":-0.006591482553631067,"acceleration_raw":0.0,"estimated_torque_nm":0.7832852005958557,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009548421949148178,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002706485567614436,"velocity_rad_s":-0.006813735701143742,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03909870982170105,"velocity_rad_s":0.010747009888291359,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.300768107175827,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904243350028992,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024759409949183464,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22113291919231415,"velocity_rad_s":0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788493142464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810567,"imu":{"quaternion":[0.9904196262359619,-0.0012989167589694262,0.01855727657675743,0.13683168590068817],"gyroscope":[0.009587379172444344,0.06711164861917496,-0.020240021869540215],"accelerometer":[-0.5674257874488831,0.15173253417015076,9.889549255371094],"rpy":[0.0025072316639125347,0.037122976034879684,0.2746189832687378],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34694385528564453,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011854262091219425,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.002959609031677246,"velocity_rad_s":0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312245726585388,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096310794353485,"velocity_rad_s":-0.0037190706934779882,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01066054217517376,"velocity_rad_s":-0.0028083245269954205,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35042938590049744,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013533119112253189,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-13.623046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3008832037448883,"velocity_rad_s":0.004759896546602249,"acceleration_raw":0.0,"estimated_torque_nm":1.1834478378295898,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010438957251608372,"velocity_rad_s":0.0008867550059221685,"acceleration_raw":0.0,"estimated_torque_nm":0.7832852005958557,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009454678744077682,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026988820172846317,"velocity_rad_s":-0.0009746111463755369,"acceleration_raw":0.0,"estimated_torque_nm":-0.6877400279045105,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03909376263618469,"velocity_rad_s":0.009474817663431168,"acceleration_raw":0.0,"estimated_torque_nm":1.2143446207046509,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3006961941719055,"velocity_rad_s":-0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904243350028992,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024759409949183464,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2212407886981964,"velocity_rad_s":0.1733398288488388,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8252097964286804,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788495024384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810568,"imu":{"quaternion":[0.9904202222824097,-0.0012989038368687034,0.01859176717698574,0.13682322204113007],"gyroscope":[0.0074568502604961395,0.07350324094295502,-0.01810949295759201],"accelerometer":[-0.5467758178710938,0.20111294090747833,9.902118682861328],"rpy":[0.0025163916870951653,0.03719133883714676,0.27460232377052307],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34689271450042725,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011854262091219425,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003026568330824375,"velocity_rad_s":0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312160491943359,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30961868166923523,"velocity_rad_s":-0.002650645561516285,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010653377510607243,"velocity_rad_s":0.000910262344405055,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3503611981868744,"velocity_rad_s":0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013575729914009571,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-13.53515625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3008749186992645,"velocity_rad_s":0.008484452962875366,"acceleration_raw":0.0,"estimated_torque_nm":1.274415135383606,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010438887402415276,"velocity_rad_s":-0.0019254024373367429,"acceleration_raw":0.0,"estimated_torque_nm":0.8355814814567566,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009427894838154316,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027064839377999306,"velocity_rad_s":-0.002919756341725588,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039088841527700424,"velocity_rad_s":0.0018992035184055567,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30061230063438416,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004997421987354755,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904243350028992,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024771394208073616,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22148047387599945,"velocity_rad_s":0.1840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788497066368,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810569,"imu":{"quaternion":[0.9904202222824097,-0.0012989038368687034,0.01859176717698574,0.13682322204113007],"gyroscope":[0.0074568502604961395,0.07350324094295502,-0.01810949295759201],"accelerometer":[-0.5467758178710938,0.20111294090747833,9.902118682861328],"rpy":[0.0025163916870951653,0.03719133883714676,0.27460232377052307],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34689271450042725,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011862784624099731,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003093527862802148,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6312075257301331,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309626966714859,"velocity_rad_s":-0.004244002513587475,"acceleration_raw":0.0,"estimated_torque_nm":3.2571823596954346,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01065332256257534,"velocity_rad_s":-2.8195356208016165e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.6264663934707642,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35032713413238525,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013584252446889877,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009119881317019463,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976815223693848,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-13.623046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30087900161743164,"velocity_rad_s":0.008472586050629616,"acceleration_raw":0.0,"estimated_torque_nm":1.1834478378295898,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01043168269097805,"velocity_rad_s":-7.147876749513671e-05,"acceleration_raw":0.0,"estimated_torque_nm":0.7832852005958557,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009387718513607979,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026912768371403217,"velocity_rad_s":-0.006812765263020992,"acceleration_raw":0.0,"estimated_torque_nm":-0.6877400279045105,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03907894715666771,"velocity_rad_s":0.004431474953889847,"acceleration_raw":0.0,"estimated_torque_nm":1.2143446207046509,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3005523979663849,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20403143763542175,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024759409949183464,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22157633304595947,"velocity_rad_s":0.1764077991247177,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03656386956572533,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788498674272,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810570,"imu":{"quaternion":[0.9904206991195679,-0.0013006888329982758,0.018628094345331192,0.1368142068386078],"gyroscope":[0.004261057358235121,0.07776429504156113,-0.019174758344888687],"accelerometer":[-0.44083237648010254,0.2486976981163025,9.850045204162598],"rpy":[0.002522471360862255,0.03726383298635483,0.27458447217941284],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34684157371520996,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0031604873947799206,"velocity_rad_s":0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096310794353485,"velocity_rad_s":-0.005286442115902901,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01066054217517376,"velocity_rad_s":0.009243601001799107,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35028451681137085,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013601296581327915,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009119881317019463,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976559519767761,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-13.623046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30088311433792114,"velocity_rad_s":0.0036652227863669395,"acceleration_raw":0.0,"estimated_torque_nm":1.1834478378295898,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010424477979540825,"velocity_rad_s":0.006457460578531027,"acceleration_raw":0.0,"estimated_torque_nm":0.7832852005958557,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009347543120384216,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026988789904862642,"velocity_rad_s":-3.883395152115554e-07,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03907402604818344,"velocity_rad_s":0.002526214113458991,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3004685044288635,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004997421987354755,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904243350028992,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024759409949183464,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22168420255184174,"velocity_rad_s":0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251858353614807,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05881857872009277,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788500564000,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810571,"imu":{"quaternion":[0.9904220700263977,-0.001310568186454475,0.018697021529078484,0.13679543137550354],"gyroscope":[-0.0031957929022610188,0.07137271016836166,-0.02237055078148842],"accelerometer":[-0.4174889326095581,0.21996727585792542,9.88506031036377],"rpy":[0.0025210685562342405,0.0374031662940979,0.27454712986946106],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3468586206436157,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0032274469267576933,"velocity_rad_s":0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311819553375244,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309626966714859,"velocity_rad_s":-0.00530129112303257,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01065332256257534,"velocity_rad_s":0.00182052468881011,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.35027599334716797,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013626862317323685,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009106488898396492,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-13.623046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3008914589881897,"velocity_rad_s":0.001035339548252523,"acceleration_raw":0.0,"estimated_torque_nm":1.1834478378295898,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010439027100801468,"velocity_rad_s":0.0036989119835197926,"acceleration_raw":0.0,"estimated_torque_nm":0.7832852005958557,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009240408428013325,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":-1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026988773606717587,"velocity_rad_s":-0.002921115607023239,"acceleration_raw":0.0,"estimated_torque_nm":-0.6877400279045105,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.039064157754182816,"velocity_rad_s":0.010740953497588634,"acceleration_raw":0.0,"estimated_torque_nm":1.2143446207046509,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30044451355934143,"velocity_rad_s":-0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024759409949183464,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22178007662296295,"velocity_rad_s":0.1564660519361496,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05881857872009277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788502433984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810572,"imu":{"quaternion":[0.9904220700263977,-0.001310568186454475,0.018697021529078484,0.13679543137550354],"gyroscope":[-0.0031957929022610188,0.07137271016836166,-0.02237055078148842],"accelerometer":[-0.4174889326095581,0.21996727585792542,9.88506031036377],"rpy":[0.0025210685562342405,0.0374031662940979,0.27454712986946106],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34679895639419556,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003254230599850416,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311904788017273,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-10.72265625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096352219581604,"velocity_rad_s":-0.006879799533635378,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010667760856449604,"velocity_rad_s":0.008305143564939499,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3502504229545593,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013669473119080067,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009106488898396492,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.6711647510528564,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976559519767761,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-13.623046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3008914589881897,"velocity_rad_s":-3.5600456612883136e-05,"acceleration_raw":0.0,"estimated_torque_nm":1.1834478378295898,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010439027100801468,"velocity_rad_s":0.0055617704056203365,"acceleration_raw":0.0,"estimated_torque_nm":0.7832852005958557,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009200232103466988,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026760667096823454,"velocity_rad_s":-0.005840871948748827,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03904931992292404,"velocity_rad_s":0.012640156783163548,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.3003007173538208,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20403143763542175,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024747425690293312,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22198380529880524,"velocity_rad_s":0.16413594782352448,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8251978158950806,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788504320672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810573,"imu":{"quaternion":[0.990422785282135,-0.001313579035922885,0.01872754469513893,0.13678544759750366],"gyroscope":[-0.0,0.06711164861917496,-0.021305285394191742],"accelerometer":[-0.3519476354122162,0.22445641458034515,10.021530151367188],"rpy":[0.0025230871979147196,0.03746449202299118,0.2745271921157837],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3467904329299927,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.966796875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.003334582084789872,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6311819553375244,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-10.810546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096310794353485,"velocity_rad_s":-0.0063771409913897514,"acceleration_raw":0.0,"estimated_torque_nm":3.347888469696045,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01066054217517376,"velocity_rad_s":-0.005609600804746151,"acceleration_raw":0.0,"estimated_torque_nm":-0.6783104538917542,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3502504229545593,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013677995651960373,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009079704992473125,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976559519767761,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-13.623046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30089136958122253,"velocity_rad_s":0.0031534861773252487,"acceleration_raw":0.0,"estimated_torque_nm":1.1834478378295898,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010424547828733921,"velocity_rad_s":0.0036810424644500017,"acceleration_raw":0.0,"estimated_torque_nm":0.7832852005958557,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.009160056710243225,"velocity_rad_s":-0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":-1.2863991260528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002676063682883978,"velocity_rad_s":-0.004867231473326683,"acceleration_raw":0.0,"estimated_torque_nm":-0.6385988593101501,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03902958333492279,"velocity_rad_s":0.009480874985456467,"acceleration_raw":0.0,"estimated_torque_nm":1.1384490728378296,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.30024078488349915,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904243350028992,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024759409949183464,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22207967936992645,"velocity_rad_s":0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8252097964286804,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788506194336,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810594,"imu":{"quaternion":[0.9904342889785767,-0.001276093884371221,0.019267158582806587,0.1366281360387802],"gyroscope":[0.009587379172444344,0.06178532913327217,-0.019174758344888687],"accelerometer":[-0.6500257849693298,0.07900865375995636,9.883264541625977],"rpy":[0.002739132847636938,0.03852394223213196,0.2742178738117218],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34652626514434814,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011862784624099731,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0045800283551216125,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310370564460754,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964767932891846,"velocity_rad_s":0.001064712880179286,"acceleration_raw":0.0,"estimated_torque_nm":3.8907523155212402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010645938105881214,"velocity_rad_s":0.0018628179095685482,"acceleration_raw":0.0,"estimated_torque_nm":-0.7827215194702148,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34983283281326294,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009039529599249363,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":0.3355823755264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976729989051819,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-12.83203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007408678531647,"velocity_rad_s":0.010756867937743664,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010177052579820156,"velocity_rad_s":-0.026044275611639023,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007820867002010345,"velocity_rad_s":-0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002455533482134342,"velocity_rad_s":-0.018493926152586937,"acceleration_raw":0.0,"estimated_torque_nm":-0.5892214775085449,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038708534091711044,"velocity_rad_s":0.025922466069459915,"acceleration_raw":0.0,"estimated_torque_nm":1.2143597602844238,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2991502285003662,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02473544143140316,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22454842925071716,"velocity_rad_s":0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787327378988266,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253535628318787,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788508080224,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810595,"imu":{"quaternion":[0.9904366135597229,-0.0012820062693208456,0.01933002658188343,0.1366017609834671],"gyroscope":[-0.0010652643395587802,0.0649811252951622,-0.02876213565468788],"accelerometer":[-0.6141127347946167,0.1553238332271576,9.898528099060059],"rpy":[0.0027435915544629097,0.03865020349621773,0.27416521310806274],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3465092182159424,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004633595701307058,"velocity_rad_s":0.08742229640483856,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310285329818726,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964356660842896,"velocity_rad_s":-0.0005472053308039904,"acceleration_raw":0.0,"estimated_torque_nm":3.8907523155212402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010638718493282795,"velocity_rad_s":-0.008354485034942627,"acceleration_raw":0.0,"estimated_torque_nm":-0.7827215194702148,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34982430934906006,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01389957033097744,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009052921086549759,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-12.83203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30074504017829895,"velocity_rad_s":0.0059495046734809875,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010184327140450478,"velocity_rad_s":-0.01951533742249012,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007740515749901533,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002440323354676366,"velocity_rad_s":-0.019468342885375023,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03867890685796738,"velocity_rad_s":0.03413417562842369,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2991023063659668,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024747425690293312,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22470422089099884,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253656029701233,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788509958880,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810596,"imu":{"quaternion":[0.9904366135597229,-0.0012820062693208456,0.01933002658188343,0.1366017609834671],"gyroscope":[-0.0010652643395587802,0.0649811252951622,-0.02876213565468788],"accelerometer":[-0.6141127347946167,0.1553238332271576,9.898528099060059],"rpy":[0.0027435915544629097,0.03865020349621773,0.27416521310806274],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34651774168014526,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004727339372038841,"velocity_rad_s":0.08913645893335342,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310285329818726,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964353680610657,"velocity_rad_s":-0.002661782316863537,"acceleration_raw":0.0,"estimated_torque_nm":3.8907523155212402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010653212666511536,"velocity_rad_s":-0.004657045006752014,"acceleration_raw":0.0,"estimated_torque_nm":-0.7827215194702148,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3498072624206543,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00906631350517273,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-12.83203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007493317127228,"velocity_rad_s":0.004819230642169714,"acceleration_raw":0.0,"estimated_torque_nm":1.998663306236267,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010206099599599838,"velocity_rad_s":-0.00838286243379116,"acceleration_raw":0.0,"estimated_torque_nm":0.8402172923088074,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007673555985093117,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002447922248393297,"velocity_rad_s":-0.015574946999549866,"acceleration_raw":0.0,"estimated_torque_nm":-0.5894576907157898,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03865424543619156,"velocity_rad_s":0.02907569147646427,"acceleration_raw":0.0,"estimated_torque_nm":1.0625534057617188,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29906633496284485,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20403143763542175,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024747425690293312,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2247641384601593,"velocity_rad_s":0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253535628318787,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788511839680,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810597,"imu":{"quaternion":[0.9904377460479736,-0.001282868324778974,0.01935826614499092,0.13658957183361053],"gyroscope":[0.0053263213485479355,0.05858953669667244,-0.02556634321808815],"accelerometer":[-0.6751648783683777,0.1032499447464943,9.783605575561523],"rpy":[0.0027491345535963774,0.03870643302798271,0.2741409242153168],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34651774168014526,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00479429867118597,"velocity_rad_s":0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6310029625892639,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964356660842896,"velocity_rad_s":-0.0010721372673287988,"acceleration_raw":0.0,"estimated_torque_nm":3.8907523155212402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010638718493282795,"velocity_rad_s":-0.005574355833232403,"acceleration_raw":0.0,"estimated_torque_nm":-0.7827215194702148,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3498072624206543,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013950702734291553,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009079704992473125,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-12.83203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30075350403785706,"velocity_rad_s":0.001059073256328702,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01021337416023016,"velocity_rad_s":-8.934845936892089e-06,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007660164497792721,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0024327151477336884,"velocity_rad_s":-0.018493149429559708,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03864435479044914,"velocity_rad_s":0.020870039239525795,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29904237389564514,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02473544143140316,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2248360514640808,"velocity_rad_s":0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253656029701233,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788513733440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810598,"imu":{"quaternion":[0.9904401302337646,-0.0012818209361284971,0.019410390406847,0.13656510412693024],"gyroscope":[0.0074568502604961395,0.05326321721076965,-0.026631608605384827],"accelerometer":[-0.6652888059616089,0.17148469388484955,9.657012939453125],"rpy":[0.0027645151130855083,0.038809504359960556,0.2740922272205353],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34652626514434814,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004847866017371416,"velocity_rad_s":0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309774518013,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964767932891846,"velocity_rad_s":-0.0026654943358153105,"acceleration_raw":0.0,"estimated_torque_nm":3.980772018432617,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010645938105881214,"velocity_rad_s":-0.006512813735753298,"acceleration_raw":0.0,"estimated_torque_nm":-0.7312390208244324,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3498072624206543,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.0546875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013976269401609898,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009039529599249363,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.4474431872367859,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-12.919921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30075758695602417,"velocity_rad_s":-0.0016064101364463568,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010206169448792934,"velocity_rad_s":0.0027942874003201723,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007593204732984304,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0024403156712651253,"velocity_rad_s":-0.007788931485265493,"acceleration_raw":0.0,"estimated_torque_nm":-0.5892214775085449,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03862956538796425,"velocity_rad_s":0.024011150002479553,"acceleration_raw":0.0,"estimated_torque_nm":1.2143597602844238,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29901841282844543,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904003143310547,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02473544143140316,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22491994500160217,"velocity_rad_s":0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253656029701233,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788515604192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810599,"imu":{"quaternion":[0.9904401302337646,-0.0012818209361284971,0.019410390406847,0.13656510412693024],"gyroscope":[0.0074568502604961395,0.05326321721076965,-0.026631608605384827],"accelerometer":[-0.6652888059616089,0.17148469388484955,9.657012939453125],"rpy":[0.0027645151130855083,0.038809504359960556,0.2740922272205353],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3465092182159424,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004901433829218149,"velocity_rad_s":0.10456392168998718,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309859752655029,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30963531136512756,"velocity_rad_s":0.0031495920848101377,"acceleration_raw":0.0,"estimated_torque_nm":3.8907523155212402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010624280199408531,"velocity_rad_s":-0.016680775210261345,"acceleration_raw":0.0,"estimated_torque_nm":-0.7827215194702148,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34979021549224854,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013976269401609898,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009052921086549759,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-12.919921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007657825946808,"velocity_rad_s":-0.004236293025314808,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010191760025918484,"velocity_rad_s":3.5739383747568354e-05,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0074860695749521255,"velocity_rad_s":-0.08227980881929398,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0023870908189564943,"velocity_rad_s":-0.007788348011672497,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038594942539930344,"velocity_rad_s":0.020221827551722527,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2989345192909241,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024759409949183464,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.225063756108284,"velocity_rad_s":0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253656029701233,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02189517952501774,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788517211904,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810600,"imu":{"quaternion":[0.9904415011405945,-0.0012822102289646864,0.019435564056038857,0.13655130565166473],"gyroscope":[0.0053263213485479355,0.05219795182347298,-0.02876213565468788],"accelerometer":[-0.6652888059616089,0.17148469388484955,9.657012939453125],"rpy":[0.002770089777186513,0.0388595312833786,0.27406471967697144],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3464921712875366,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011828696355223656,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.004995177034288645,"velocity_rad_s":0.10456392168998718,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309859752655029,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964767932891846,"velocity_rad_s":-0.0021220012567937374,"acceleration_raw":0.0,"estimated_torque_nm":3.8907523155212402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010645938105881214,"velocity_rad_s":-1.4097678104008082e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.7827215194702148,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34982430934906006,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01398479100316763,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009026138111948967,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976729989051819,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-12.83203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007657825946808,"velocity_rad_s":-0.002118146512657404,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010191760025918484,"velocity_rad_s":1.7869691873784177e-05,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007445894181728363,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002356674987822771,"velocity_rad_s":-0.021414073184132576,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038565292954444885,"velocity_rad_s":0.030347885563969612,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2988985478878021,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02473544143140316,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2251356542110443,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036491964012384415,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253775835037231,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788519084192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810601,"imu":{"quaternion":[0.9904428124427795,-0.001281511620618403,0.019461391493678093,0.13653802871704102],"gyroscope":[0.0074568502604961395,0.05326321721076965,-0.027696872130036354],"accelerometer":[-0.606930136680603,0.20560206472873688,9.649829864501953],"rpy":[0.0027780181262642145,0.038910556584596634,0.2740382254123688],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3464921712875366,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011828696355223656,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005048744846135378,"velocity_rad_s":0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309604048728943,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30965185165405273,"velocity_rad_s":-0.003726495197042823,"acceleration_raw":0.0,"estimated_torque_nm":3.8907523155212402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010638663545250893,"velocity_rad_s":-0.006519862916320562,"acceleration_raw":0.0,"estimated_torque_nm":-0.7827215194702148,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3497987389564514,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009026138111948967,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-12.919921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007657825946808,"velocity_rad_s":-0.002629882888868451,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010191760025918484,"velocity_rad_s":-0.002758548129349947,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00739232636988163,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":53.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002356673590838909,"velocity_rad_s":-0.021413877606391907,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03855542466044426,"velocity_rad_s":0.02908477745950222,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2988506257534027,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904003143310547,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024747425690293312,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22520756721496582,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8253775835037231,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788520963776,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810602,"imu":{"quaternion":[0.9904440641403198,-0.0012787511805072427,0.01948813907802105,0.13652576506137848],"gyroscope":[0.011717907153069973,0.05432847887277603,-0.02556634321808815],"accelerometer":[-0.7416039705276489,0.13736732304096222,9.601346969604492],"rpy":[0.002790324157103896,0.038962844759225845,0.2740139365196228],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.346466600894928,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0051424880512058735,"velocity_rad_s":0.09770727157592773,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309177875518799,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30965185165405273,"velocity_rad_s":-0.008499142713844776,"acceleration_raw":0.0,"estimated_torque_nm":3.8907523155212402,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010638663545250893,"velocity_rad_s":-0.0056236982345581055,"acceleration_raw":0.0,"estimated_torque_nm":-0.7827215194702148,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3497987389564514,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01401888020336628,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009039529599249363,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-12.919921875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007657825946808,"velocity_rad_s":-0.0005236032302491367,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010191760025918484,"velocity_rad_s":-0.0009224943351000547,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00735215051099658,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002333858283236623,"velocity_rad_s":-0.021415041759610176,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03851098194718361,"velocity_rad_s":0.036663420498371124,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2988026738166809,"velocity_rad_s":-0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024747425690293312,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22524350881576538,"velocity_rad_s":0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.825389564037323,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788522831360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810603,"imu":{"quaternion":[0.9904453754425049,-0.0012769761960953474,0.019514283165335655,0.13651245832443237],"gyroscope":[0.009587379172444344,0.05326321721076965,-0.027696872130036354],"accelerometer":[-0.7128735780715942,0.16879121959209442,9.629179954528809],"rpy":[0.00280046951957047,0.03901420906186104,0.27398747205734253],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.346466600894928,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005196055397391319,"velocity_rad_s":0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309177875518799,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096559941768646,"velocity_rad_s":-0.006384565494954586,"acceleration_raw":0.0,"estimated_torque_nm":3.980772018432617,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010631388984620571,"velocity_rad_s":-0.009321139194071293,"acceleration_raw":0.0,"estimated_torque_nm":-0.7312390208244324,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3498157858848572,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009026138111948967,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.39151278138160706,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-12.83203125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007657825946808,"velocity_rad_s":-0.001059073256328702,"acceleration_raw":0.0,"estimated_torque_nm":1.9076958894729614,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010191760025918484,"velocity_rad_s":8.934845936892089e-06,"acceleration_raw":0.0,"estimated_torque_nm":0.7879210710525513,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0072584073059260845,"velocity_rad_s":-0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002318651182577014,"velocity_rad_s":-0.028226837515830994,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03850109130144119,"velocity_rad_s":0.03477935865521431,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29863491654396057,"velocity_rad_s":-0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.990436315536499,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024747425690293312,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253873199224472,"velocity_rad_s":0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787327378988266,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254015445709229,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788525008544,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810604,"imu":{"quaternion":[0.9904467463493347,-0.001272280584089458,0.01953873224556446,0.13649852573871613],"gyroscope":[0.014913700520992279,0.049002159386873245,-0.02876213565468788],"accelerometer":[-0.7047930955886841,0.15083470940589905,9.67227554321289],"rpy":[0.0028159157373011112,0.03906140476465225,0.27395984530448914],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3464580774307251,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005263015162199736,"velocity_rad_s":0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309007406234741,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30964767932891846,"velocity_rad_s":-0.0005286442465148866,"acceleration_raw":0.0,"estimated_torque_nm":4.342909812927246,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010645938105881214,"velocity_rad_s":0.000924360123462975,"acceleration_raw":0.0,"estimated_torque_nm":-0.8352885246276855,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3498072624206543,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009039529599249363,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-12.3046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007657825946808,"velocity_rad_s":0.0053309667855501175,"acceleration_raw":0.0,"estimated_torque_nm":2.4508819580078125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010191760025918484,"velocity_rad_s":-0.005606444552540779,"acceleration_raw":0.0,"estimated_torque_nm":0.7913979291915894,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007218231912702322,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002288232557475567,"velocity_rad_s":-0.02336135134100914,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03845170512795448,"velocity_rad_s":0.036666449159383774,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2985270619392395,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9904123544692993,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02473544143140316,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22544725239276886,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254015445709229,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788526869728,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810605,"imu":{"quaternion":[0.990448534488678,-0.0012675849720835686,0.019562695175409317,0.13648195564746857],"gyroscope":[0.014913700520992279,0.04793689399957657,-0.034088458865880966],"accelerometer":[-0.7047930955886841,0.15083470940589905,9.67227554321289],"rpy":[0.0028311233036220074,0.039107657968997955,0.27392685413360596],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.346466600894928,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005383542273193598,"velocity_rad_s":0.11656305938959122,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6309007406234741,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30963534116744995,"velocity_rad_s":0.0031570165883749723,"acceleration_raw":0.0,"estimated_torque_nm":4.5236358642578125,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01060978602617979,"velocity_rad_s":-0.012969236820936203,"acceleration_raw":0.0,"estimated_torque_nm":-0.8356500864028931,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34978169202804565,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009093097411096096,"velocity_rad_s":-0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976729989051819,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3007325828075409,"velocity_rad_s":0.019646257162094116,"acceleration_raw":0.0,"estimated_torque_nm":2.722038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.01017698273062706,"velocity_rad_s":-0.00850795116275549,"acceleration_raw":0.0,"estimated_torque_nm":0.7414196133613586,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007164664100855589,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002295833081007004,"velocity_rad_s":-0.013629219494760036,"acceleration_raw":0.0,"estimated_torque_nm":-0.5400803089141846,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03843691200017929,"velocity_rad_s":0.03286198526620865,"acceleration_raw":0.0,"estimated_torque_nm":1.1384642124176025,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29837125539779663,"velocity_rad_s":-0.15186411142349243,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9903883337974548,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024747425690293312,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22551915049552917,"velocity_rad_s":0.08897089213132858,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254255056381226,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788528755104,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810606,"imu":{"quaternion":[0.9904506206512451,-0.0012623138027265668,0.019586190581321716,0.13646432757377625],"gyroscope":[0.015978964045643806,0.04687162861227989,-0.03621898591518402],"accelerometer":[-0.6482301354408264,0.14365209639072418,9.701904296875],"rpy":[0.0028472994454205036,0.0391528345644474,0.27389177680015564],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3464239835739136,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011837217956781387,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00546389352530241,"velocity_rad_s":0.11484890431165695,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308751702308655,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30962294340133667,"velocity_rad_s":0.003674524137750268,"acceleration_raw":0.0,"estimated_torque_nm":4.704361438751221,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01058811042457819,"velocity_rad_s":-0.019460905343294144,"acceleration_raw":0.0,"estimated_torque_nm":-0.8360115885734558,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3497646749019623,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014044445939362049,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-11.865234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.3006574809551239,"velocity_rad_s":0.040017854422330856,"acceleration_raw":0.0,"estimated_torque_nm":2.722038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.010074963793158531,"velocity_rad_s":-0.04761010780930519,"acceleration_raw":0.0,"estimated_torque_nm":0.7414196133613586,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.007111096754670143,"velocity_rad_s":-0.09770727157592773,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0023034277837723494,"velocity_rad_s":-0.015580485574901104,"acceleration_raw":0.0,"estimated_torque_nm":-0.539585530757904,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038412272930145264,"velocity_rad_s":0.03663455322384834,"acceleration_raw":0.0,"estimated_torque_nm":1.139224886894226,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2982514202594757,"velocity_rad_s":-0.16566993296146393,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9903883337974548,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024723457172513008,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22560304403305054,"velocity_rad_s":0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254374861717224,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788530630496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810607,"imu":{"quaternion":[0.9904527068138123,-0.0012587523087859154,0.019610002636909485,0.13644513487815857],"gyroscope":[0.012783171609044075,0.04793689399957657,-0.03941477835178375],"accelerometer":[-0.6841431260108948,0.1355716735124588,9.691129684448242],"rpy":[0.0028601111844182014,0.0391991026699543,0.27385345101356506],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34639841318130493,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005530852824449539,"velocity_rad_s":0.11999139189720154,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308836936950684,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309610515832901,"velocity_rad_s":0.008983239531517029,"acceleration_raw":0.0,"estimated_torque_nm":4.614341735839844,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010580945760011673,"velocity_rad_s":-0.0175698921084404,"acceleration_raw":0.0,"estimated_torque_nm":-0.8874940872192383,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34973058104515076,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014087056741118431,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":-0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976815223693848,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-11.865234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30059900879859924,"velocity_rad_s":0.05449927970767021,"acceleration_raw":0.0,"estimated_torque_nm":2.8130061626434326,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.00998758152127266,"velocity_rad_s":-0.07646654546260834,"acceleration_raw":0.0,"estimated_torque_nm":0.7937158346176147,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0070307450369000435,"velocity_rad_s":-0.07370899617671967,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0023110187612473965,"velocity_rad_s":-0.009743791073560715,"acceleration_raw":0.0,"estimated_torque_nm":-0.539585530757904,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.038377776741981506,"velocity_rad_s":0.041671302169561386,"acceleration_raw":0.0,"estimated_torque_nm":1.139224886894226,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2981075942516327,"velocity_rad_s":-0.17794178426265717,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9903643727302551,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024723457172513008,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22565098106861115,"velocity_rad_s":0.09357283264398575,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254255056381226,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788532523808,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810608,"imu":{"quaternion":[0.990454912185669,-0.0012545657809823751,0.01963675580918789,0.1364254206418991],"gyroscope":[0.014913700520992279,0.05326321721076965,-0.04048004373908043],"accelerometer":[-0.8197147846221924,0.11043255031108856,9.63187313079834],"rpy":[0.0028749415650963783,0.03925102949142456,0.2738141715526581],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3463302552700043,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005624596029520035,"velocity_rad_s":0.1217055544257164,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308751702308655,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309610515832901,"velocity_rad_s":0.004735524766147137,"acceleration_raw":0.0,"estimated_torque_nm":4.5236358642578125,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010580945760011673,"velocity_rad_s":-0.019453855231404305,"acceleration_raw":0.0,"estimated_torque_nm":-0.8356500864028931,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34965386986732483,"velocity_rad_s":0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009186840616166592,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597664475440979,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-11.865234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30054453015327454,"velocity_rad_s":0.06463760882616043,"acceleration_raw":0.0,"estimated_torque_nm":2.722038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009878496639430523,"velocity_rad_s":-0.08860192447900772,"acceleration_raw":0.0,"estimated_torque_nm":0.7414196133613586,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.006977177690714598,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002333813812583685,"velocity_rad_s":0.004853782709687948,"acceleration_raw":0.0,"estimated_torque_nm":-0.49047595262527466,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03834331035614014,"velocity_rad_s":0.035961780697107315,"acceleration_raw":0.0,"estimated_torque_nm":1.063280701637268,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29781997203826904,"velocity_rad_s":-0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9903404116630554,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024723457172513008,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22577081620693207,"velocity_rad_s":0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254494667053223,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788534397280,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810609,"imu":{"quaternion":[0.9904568791389465,-0.0012514757690951228,0.019663982093334198,0.1364073008298874],"gyroscope":[0.012783171609044075,0.05432847887277603,-0.0372842513024807],"accelerometer":[-0.7712322473526001,0.13108254969120026,9.552865028381348],"rpy":[0.0028877900913357735,0.03930418938398361,0.2737780511379242],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34630468487739563,"velocity_rad_s":0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011854262091219425,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00575851509347558,"velocity_rad_s":0.0994214415550232,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308495998382568,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096146881580353,"velocity_rad_s":0.006328881718218327,"acceleration_raw":0.0,"estimated_torque_nm":4.614341735839844,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010573672130703926,"velocity_rad_s":-0.018515396863222122,"acceleration_raw":0.0,"estimated_torque_nm":-0.8874940872192383,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3496197760105133,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009227016009390354,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976729989051819,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-11.77734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30046913027763367,"velocity_rad_s":0.07269339263439178,"acceleration_raw":0.0,"estimated_torque_nm":2.722038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009733021259307861,"velocity_rad_s":-0.10628120601177216,"acceleration_raw":0.0,"estimated_torque_nm":0.7414196133613586,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.006950393784791231,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002326203975826502,"velocity_rad_s":-0.001957772998139262,"acceleration_raw":0.0,"estimated_torque_nm":-0.5890051126480103,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03831864520907402,"velocity_rad_s":0.03660675883293152,"acceleration_raw":0.0,"estimated_torque_nm":1.0632492303848267,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29768815636634827,"velocity_rad_s":-0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.004997421987354755,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.990292489528656,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024711472913622856,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22580677270889282,"velocity_rad_s":0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254494667053223,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788536286144,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810610,"imu":{"quaternion":[0.9904588460922241,-0.0012489291839301586,0.01969122141599655,0.13638921082019806],"gyroscope":[0.011717907153069973,0.05432847887277603,-0.0372842513024807],"accelerometer":[-0.7712322473526001,0.13108254969120026,9.552865028381348],"rpy":[0.0028995636384934187,0.03935752809047699,0.2737419903278351],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.346279114484787,"velocity_rad_s":0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005825474392622709,"velocity_rad_s":0.11827722191810608,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308240294456482,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096187710762024,"velocity_rad_s":0.0047615100629627705,"acceleration_raw":0.0,"estimated_torque_nm":4.614341735839844,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010595384985208511,"velocity_rad_s":-0.0064634718000888824,"acceleration_raw":0.0,"estimated_torque_nm":-0.8874940872192383,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34955161809921265,"velocity_rad_s":0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":-0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976559519767761,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-11.865234375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30029353499412537,"velocity_rad_s":0.09571860730648041,"acceleration_raw":0.0,"estimated_torque_nm":2.722038745880127,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009441878646612167,"velocity_rad_s":-0.14633266627788544,"acceleration_raw":0.0,"estimated_torque_nm":0.7414196133613586,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.006896826438605785,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0023338012397289276,"velocity_rad_s":0.0038829450495541096,"acceleration_raw":0.0,"estimated_torque_nm":-0.5886951684951782,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03830386698246002,"velocity_rad_s":0.0290218573063612,"acceleration_raw":0.0,"estimated_torque_nm":1.2151689529418945,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29749640822410583,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9902445673942566,"velocity_rad_s":-0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-1.125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024699488654732704,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22586669027805328,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254494667053223,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788538152160,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810611,"imu":{"quaternion":[0.9904608130455017,-0.0012454686220735312,0.019719738513231277,0.13637056946754456],"gyroscope":[0.013848436065018177,0.056459009647369385,-0.038349516689777374],"accelerometer":[-0.7703344225883484,0.16430209577083588,9.621099472045898],"rpy":[0.0029134752694517374,0.039413150399923325,0.2737048268318176],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3462194502353668,"velocity_rad_s":0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011845740489661694,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005892434157431126,"velocity_rad_s":0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6308325529098511,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30962294340133667,"velocity_rad_s":-0.0026654943358153105,"acceleration_raw":0.0,"estimated_torque_nm":4.614341735839844,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01058811042457819,"velocity_rad_s":-0.006512813735753298,"acceleration_raw":0.0,"estimated_torque_nm":-0.8874940872192383,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.349526047706604,"velocity_rad_s":0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014163755811750889,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976729989051819,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30019304156303406,"velocity_rad_s":0.10446412116289139,"acceleration_raw":0.0,"estimated_torque_nm":2.541849374771118,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009252755902707577,"velocity_rad_s":-0.18904437124729156,"acceleration_raw":0.0,"estimated_torque_nm":0.8436942100524902,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0068030827678740025,"velocity_rad_s":-0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0023261955939233303,"velocity_rad_s":-0.010708547197282314,"acceleration_raw":0.0,"estimated_torque_nm":-0.5405903458595276,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03827923536300659,"velocity_rad_s":0.03593815490603447,"acceleration_raw":0.0,"estimated_torque_nm":1.140778660774231,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29734060168266296,"velocity_rad_s":-0.21935926377773285,"acceleration_raw":0.0,"estimated_torque_nm":0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005009406246244907,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9902206063270569,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024687504395842552,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2259146273136139,"velocity_rad_s":0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03650394827127457,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254494667053223,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788539739968,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810611,"imu":{"quaternion":[0.9904632568359375,-0.0012423289008438587,0.019749827682971954,0.13634876906871796],"gyroscope":[0.013848436065018177,0.059654802083969116,-0.04474110156297684],"accelerometer":[-0.6904278993606567,0.12928688526153564,9.524134635925293],"rpy":[0.0029270511586219072,0.03947198763489723,0.273661345243454],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3461768627166748,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011854262091219425,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.005959393456578255,"velocity_rad_s":0.1302763670682907,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6307984590530396,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-10.107421875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096187710762024,"velocity_rad_s":0.000532356440089643,"acceleration_raw":0.0,"estimated_torque_nm":4.614341735839844,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010595384985208511,"velocity_rad_s":0.0009314089547842741,"acceleration_raw":0.0,"estimated_torque_nm":-0.8874940872192383,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3494322896003723,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01420636661350727,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5976729989051819,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-11.953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.30008018016815186,"velocity_rad_s":0.12151610106229782,"acceleration_raw":0.0,"estimated_torque_nm":2.541849374771118,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.009070768021047115,"velocity_rad_s":-0.20587265491485596,"acceleration_raw":0.0,"estimated_torque_nm":0.8436942100524902,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00676290737465024,"velocity_rad_s":-0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0022881818003952503,"velocity_rad_s":-0.010708761401474476,"acceleration_raw":0.0,"estimated_torque_nm":-0.491412490606308,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03823487460613251,"velocity_rad_s":0.037198688834905624,"acceleration_raw":0.0,"estimated_torque_nm":1.0647289752960205,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2970050573348999,"velocity_rad_s":-0.23009712994098663,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005021390505135059,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9901726245880127,"velocity_rad_s":-0.058291271328926086,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024687504395842552,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.2562499940395355,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22602248191833496,"velocity_rad_s":0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254614472389221,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788544960384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810631,"imu":{"quaternion":[0.9905310869216919,-0.0011912895133718848,0.020500602200627327,0.13574481010437012],"gyroscope":[0.014913700520992279,0.09906958043575287,-0.10013484209775925],"accelerometer":[-0.6374561786651611,0.414795458316803,9.883264541625977],"rpy":[0.003208376467227936,0.04094782844185829,0.2724538743495941],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34583595395088196,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011871307156980038,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00772712379693985,"velocity_rad_s":0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6304234862327576,"velocity_rad_s":-0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096146881580353,"velocity_rad_s":-0.003183001885190606,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010573672130703926,"velocity_rad_s":-2.114651579177007e-05,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3489294946193695,"velocity_rad_s":0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01453020703047514,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009615381248295307,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597732663154602,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29637378454208374,"velocity_rad_s":0.04539146274328232,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002826609881594777,"velocity_rad_s":-0.07902878522872925,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005852258298546076,"velocity_rad_s":-0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0026985735166817904,"velocity_rad_s":0.029184643179178238,"acceleration_raw":0.0,"estimated_torque_nm":-0.7374848127365112,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03780205920338631,"velocity_rad_s":0.023915061727166176,"acceleration_raw":0.0,"estimated_torque_nm":1.2928614616394043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29397305846214294,"velocity_rad_s":-0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9892978072166443,"velocity_rad_s":-0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024268055334687233,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22687336802482605,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788547496384,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810632,"imu":{"quaternion":[0.9905374646186829,-0.0011885726125910878,0.020547129213809967,0.13569128513336182],"gyroscope":[0.019174758344888687,0.09161273390054703,-0.10865695774555206],"accelerometer":[-0.6051344871520996,0.3456628620624542,10.090662002563477],"rpy":[0.0032242012675851583,0.04103947803378105,0.272346556186676],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3458274304866791,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011862784624099731,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007794083096086979,"velocity_rad_s":0.1217055544257164,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6304149627685547,"velocity_rad_s":-0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096146881580353,"velocity_rad_s":-0.0026543578132987022,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010573672130703926,"velocity_rad_s":-0.0009455065592192113,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34886983036994934,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014555772766470909,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009628772735595703,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597732663154602,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29638224840164185,"velocity_rad_s":0.030380811542272568,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002870081691071391,"velocity_rad_s":-0.03817867115139961,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005825474392622709,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0027289718855172396,"velocity_rad_s":0.02529197372496128,"acceleration_raw":0.0,"estimated_torque_nm":-0.7374848127365112,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037762705236673355,"velocity_rad_s":0.028961889445781708,"acceleration_raw":0.0,"estimated_torque_nm":1.2928614616394043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29374533891677856,"velocity_rad_s":-0.19481556117534637,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9892738461494446,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02425607107579708,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2268853485584259,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":53.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788551163424,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810633,"imu":{"quaternion":[0.9905440807342529,-0.0011829627910628915,0.020592259243130684,0.13563615083694458],"gyroscope":[0.024501079693436623,0.0884169414639473,-0.1118527501821518],"accelerometer":[-0.5692214369773865,0.2172738015651703,9.830292701721191],"rpy":[0.0032453052699565887,0.04112757742404938,0.27223607897758484],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3457677960395813,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01187982875853777,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.007968178018927574,"velocity_rad_s":0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6304064393043518,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30961471796035767,"velocity_rad_s":-0.007977922447025776,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010559177957475185,"velocity_rad_s":-0.010259595699608326,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34881871938705444,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014581339433789253,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977582335472107,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29639899730682373,"velocity_rad_s":0.014887041412293911,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002913592616096139,"velocity_rad_s":-0.00936377327889204,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005812082905322313,"velocity_rad_s":-0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002782178111374378,"velocity_rad_s":0.04085968807339668,"acceleration_raw":0.0,"estimated_torque_nm":-0.7374848127365112,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03774799779057503,"velocity_rad_s":0.026422085240483284,"acceleration_raw":0.0,"estimated_torque_nm":1.2928614616394043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2936374843120575,"velocity_rad_s":-0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":0.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005057343281805515,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9892138838768005,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024232102558016777,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2269093245267868,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":53.0,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788551837120,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810634,"imu":{"quaternion":[0.9905440807342529,-0.0011829627910628915,0.020592259243130684,0.13563615083694458],"gyroscope":[0.024501079693436623,0.0884169414639473,-0.1118527501821518],"accelerometer":[-0.5692214369773865,0.2172738015651703,9.830292701721191],"rpy":[0.0032453052699565887,0.04112757742404938,0.27223607897758484],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3457592725753784,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011896872892975807,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.00806192122399807,"velocity_rad_s":0.1714162677526474,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6303808689117432,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30961471796035767,"velocity_rad_s":-0.0010721372673287988,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010559177957475185,"velocity_rad_s":-0.005574355833232403,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3487846255302429,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01458986196666956,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977838039398193,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29644060134887695,"velocity_rad_s":-0.004272137768566608,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002957294462248683,"velocity_rad_s":0.007438002619892359,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005745123140513897,"velocity_rad_s":-0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0028049759566783905,"velocity_rad_s":0.03404761850833893,"acceleration_raw":0.0,"estimated_torque_nm":-0.7374848127365112,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03771355748176575,"velocity_rad_s":0.03462376445531845,"acceleration_raw":0.0,"estimated_torque_nm":1.2928614616394043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2935296297073364,"velocity_rad_s":-0.19174760580062866,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9891539812088013,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024172183126211166,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2269093245267868,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788554419168,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810635,"imu":{"quaternion":[0.9905562400817871,-0.0011634500697255135,0.020683156326413155,0.1355334371328354],"gyroscope":[0.029827401041984558,0.09054746478796005,-0.10333064198493958],"accelerometer":[-0.6230909824371338,0.12838906049728394,9.606734275817871],"rpy":[0.003304417012259364,0.04130277410149574,0.27203065156936646],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3457337021827698,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011888351291418076,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008182448334991932,"velocity_rad_s":0.14227551221847534,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6303723454475403,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30962297320365906,"velocity_rad_s":-0.0053087156265974045,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01057361625134945,"velocity_rad_s":-0.0018910131184384227,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3487505316734314,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01458986196666956,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977923274040222,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-10.986328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2964489459991455,"velocity_rad_s":-0.009041937068104744,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002971835434436798,"velocity_rad_s":0.006545068696141243,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005678163841366768,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002842977875843644,"velocity_rad_s":0.03988577798008919,"acceleration_raw":0.0,"estimated_torque_nm":-0.7374848127365112,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037688981741666794,"velocity_rad_s":0.03209567070007324,"acceleration_raw":0.0,"estimated_torque_nm":1.2928614616394043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29339781403541565,"velocity_rad_s":-0.19328159093856812,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9891060590744019,"velocity_rad_s":-0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024088293313980103,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788556101952,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810635,"imu":{"quaternion":[0.9905619025230408,-0.0011536264792084694,0.020730668678879738,0.13548500835895538],"gyroscope":[0.03302319347858429,0.0926779955625534,-0.09800431877374649],"accelerometer":[-0.6670844554901123,0.17058686912059784,9.643545150756836],"rpy":[0.0033347748685628176,0.0413944385945797,0.27193397283554077],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34570813179016113,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01187982875853777,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008236016146838665,"velocity_rad_s":0.12513387203216553,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6303382515907288,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30961471796035767,"velocity_rad_s":0.001585932681336999,"acceleration_raw":0.0,"estimated_torque_nm":5.156518936157227,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010559177957475185,"velocity_rad_s":-0.0027730802539736032,"acceleration_raw":0.0,"estimated_torque_nm":-0.8885786533355713,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34869086742401123,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014615427702665329,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-0.055930398404598236,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.597809374332428,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-10.986328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29645317792892456,"velocity_rad_s":-0.013299532234668732,"acceleration_raw":0.0,"estimated_torque_nm":3.2603049278259277,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029935622587800026,"velocity_rad_s":0.010278797708451748,"acceleration_raw":0.0,"estimated_torque_nm":0.9445489645004272,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005664771888405085,"velocity_rad_s":-0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0028885803185403347,"velocity_rad_s":0.05545242875814438,"acceleration_raw":0.0,"estimated_torque_nm":-0.7374848127365112,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03765949234366417,"velocity_rad_s":0.03585854172706604,"acceleration_raw":0.0,"estimated_torque_nm":1.2928614616394043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29314613342285156,"velocity_rad_s":-0.200951486825943,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9890701174736023,"velocity_rad_s":-0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.024052340537309647,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788561726688,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810636,"imu":{"quaternion":[0.990567684173584,-0.001144420588389039,0.020778611302375793,0.13543502986431122],"gyroscope":[0.03195792809128761,0.09374325722455978,-0.10120011121034622],"accelerometer":[-0.6778583526611328,0.19123685359954834,9.627384185791016],"rpy":[0.003363952273502946,0.04148712754249573,0.27183404564857483],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.345716655254364,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011896872892975807,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008410110138356686,"velocity_rad_s":0.13370469212532043,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6303297281265259,"velocity_rad_s":-0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096146881580353,"velocity_rad_s":0.0021257135085761547,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010573672130703926,"velocity_rad_s":0.0018698666244745255,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3486652970314026,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014658038504421711,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009628772735595703,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.055930398404598236,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5978008508682251,"velocity_rad_s":0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29644906520843506,"velocity_rad_s":-0.009590496309101582,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0030007660388946533,"velocity_rad_s":0.011179094202816486,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0055978125892579556,"velocity_rad_s":-0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00294938194565475,"velocity_rad_s":0.05350609868764877,"acceleration_raw":0.0,"estimated_torque_nm":-0.7868456840515137,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03761032596230507,"velocity_rad_s":0.03838196024298668,"acceleration_raw":0.0,"estimated_torque_nm":1.2167952060699463,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29297834634780884,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20400746166706085,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00506932707503438,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9890460968017578,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02401638776063919,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788562400032,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810637,"imu":{"quaternion":[0.990567684173584,-0.001144420588389039,0.020778611302375793,0.13543502986431122],"gyroscope":[0.03195792809128761,0.09374325722455978,-0.10120011121034622],"accelerometer":[-0.6778583526611328,0.19123685359954834,9.627384185791016],"rpy":[0.003363952273502946,0.04148712754249573,0.27183404564857483],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34569108486175537,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011905395425856113,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008503853343427181,"velocity_rad_s":0.13884717226028442,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302785873413086,"velocity_rad_s":-0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30962297320365906,"velocity_rad_s":-0.0005360686336643994,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01057361625134945,"velocity_rad_s":-0.0027871779166162014,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34863123297691345,"velocity_rad_s":0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014649515971541405,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009628772735595703,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.055930398404598236,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5978178977966309,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-10.986328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29642820358276367,"velocity_rad_s":0.003723578294739127,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002964440733194351,"velocity_rad_s":-0.0028039778117090464,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005557636730372906,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.002972183283418417,"velocity_rad_s":0.05350609868764877,"acceleration_raw":0.0,"estimated_torque_nm":-0.7868456840515137,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03759558126330376,"velocity_rad_s":0.03838196024298668,"acceleration_raw":0.0,"estimated_torque_nm":1.2167952060699463,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29287049174308777,"velocity_rad_s":-0.20862139761447906,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9889622330665588,"velocity_rad_s":-0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023992419242858887,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2269093245267868,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788563048736,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810638,"imu":{"quaternion":[0.9905802011489868,-0.001125772250816226,0.02087649516761303,0.13532866537570953],"gyroscope":[0.03195792809128761,0.09800431877374649,-0.11078748852014542],"accelerometer":[-0.628477931022644,0.04578910768032074,9.687539100646973],"rpy":[0.003423019777983427,0.04167644679546356,0.271621435880661],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34565699100494385,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011871307156980038,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008597597479820251,"velocity_rad_s":0.13199052214622498,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302700638771057,"velocity_rad_s":-0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30962303280830383,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010544611141085625,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3486141860485077,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014666561037302017,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009615381248295307,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-0.055930398404598236,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5978008508682251,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-10.986328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2964239716529846,"velocity_rad_s":0.005347443278878927,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029427141416817904,"velocity_rad_s":-0.011149641126394272,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005490677431225777,"velocity_rad_s":-0.07542315870523453,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00301018706522882,"velocity_rad_s":0.054479580372571945,"acceleration_raw":0.0,"estimated_torque_nm":-0.7868456840515137,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03758085519075394,"velocity_rad_s":0.03522944822907448,"acceleration_raw":0.0,"estimated_torque_nm":1.2167952060699463,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29272669553756714,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":0.4375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9889262914657593,"velocity_rad_s":-0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023908529430627823,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255693316459656,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788565123776,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810639,"imu":{"quaternion":[0.9905871748924255,-0.0011216343846172094,0.0209253691136837,0.135270357131958],"gyroscope":[0.023435814306139946,0.09693904966115952,-0.11824434250593185],"accelerometer":[-0.790086567401886,0.010773907415568829,9.581595420837402],"rpy":[0.003442019922658801,0.041772399097681046,0.27150455117225647],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3456399440765381,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011896872892975807,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008704732172191143,"velocity_rad_s":0.12513387203216553,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302445530891418,"velocity_rad_s":-0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30961474776268005,"velocity_rad_s":0.002639508806169033,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010544666089117527,"velocity_rad_s":-0.006477569229900837,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3485545217990875,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014692126773297787,"velocity_rad_s":0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00958859734237194,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5978008508682251,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-11.07421875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29641562700271606,"velocity_rad_s":0.00850064866244793,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029281910974532366,"velocity_rad_s":-0.003763181623071432,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00546389352530241,"velocity_rad_s":-0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0030101852025836706,"velocity_rad_s":0.038913141936063766,"acceleration_raw":0.0,"estimated_torque_nm":-0.7868456840515137,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0375710092484951,"velocity_rad_s":0.03020603582262993,"acceleration_raw":0.0,"estimated_torque_nm":1.2167952060699463,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2924630343914032,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9888783693313599,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023860592395067215,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255693316459656,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788567387008,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810640,"imu":{"quaternion":[0.9905871748924255,-0.0011216343846172094,0.0209253691136837,0.135270357131958],"gyroscope":[0.023435814306139946,0.09693904966115952,-0.11824434250593185],"accelerometer":[-0.790086567401886,0.010773907415568829,9.581595420837402],"rpy":[0.003442019922658801,0.041772399097681046,0.27150455117225647],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3456399440765381,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01187982875853777,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008892218582332134,"velocity_rad_s":0.1491321623325348,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302700638771057,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-9.66796875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30962300300598145,"velocity_rad_s":0.0026543578132987022,"acceleration_raw":0.0,"estimated_torque_nm":5.06649923324585,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01055910438299179,"velocity_rad_s":0.0009455065592192113,"acceleration_raw":0.0,"estimated_torque_nm":-0.9400611519813538,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.348520427942276,"velocity_rad_s":0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014700649306178093,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00958859734237194,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977923274040222,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-10.986328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2964072823524475,"velocity_rad_s":0.008010257966816425,"acceleration_raw":0.0,"estimated_torque_nm":3.350330114364624,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029136501252651215,"velocity_rad_s":-0.01394625473767519,"acceleration_raw":0.0,"estimated_torque_nm":0.8931385278701782,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00542371766641736,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003048187354579568,"velocity_rad_s":0.032103825360536575,"acceleration_raw":0.0,"estimated_torque_nm":-0.7868456840515137,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03754643350839615,"velocity_rad_s":0.022020746022462845,"acceleration_raw":0.0,"estimated_torque_nm":1.2167952060699463,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2923431992530823,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9888303875923157,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02382463961839676,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255693316459656,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788569366592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810641,"imu":{"quaternion":[0.9905944466590881,-0.0011181674199178815,0.02097419649362564,0.1352088749408722],"gyroscope":[0.02237055078148842,0.09693904966115952,-0.12463592737913132],"accelerometer":[-0.7272387742996216,0.09247604012489319,9.646238327026367],"rpy":[0.003459532978013158,0.04186844453215599,0.2713811993598938],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3456399440765381,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011905395425856113,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.008959177881479263,"velocity_rad_s":0.1439896672964096,"acceleration_raw":0.0,"estimated_torque_nm":1.342329502105713,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302275061607361,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3096188008785248,"velocity_rad_s":0.0032052756287157536,"acceleration_raw":0.0,"estimated_torque_nm":5.426578044891357,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01058089081197977,"velocity_rad_s":0.01115576084703207,"acceleration_raw":0.0,"estimated_torque_nm":-0.7341311573982239,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3485119044780731,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014709170907735825,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009575205855071545,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977923274040222,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-10.986328125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.296403169631958,"velocity_rad_s":0.005874189548194408,"acceleration_raw":0.0,"estimated_torque_nm":3.710430145263672,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002920854138210416,"velocity_rad_s":-0.010227254591882229,"acceleration_raw":0.0,"estimated_torque_nm":0.6874967217445374,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005383542273193598,"velocity_rad_s":-0.06170986220240593,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0030861911363899708,"velocity_rad_s":0.03599543496966362,"acceleration_raw":0.0,"estimated_torque_nm":-0.7374848127365112,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03753170743584633,"velocity_rad_s":0.023276597261428833,"acceleration_raw":0.0,"estimated_torque_nm":1.2928614616394043,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2922353446483612,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.988722562789917,"velocity_rad_s":-0.07056312263011932,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02377670258283615,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788572325248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810642,"imu":{"quaternion":[0.9906094670295715,-0.0011049230815842748,0.021070681512355804,0.13508470356464386],"gyroscope":[0.03195792809128761,0.09693904966115952,-0.12463592737913132],"accelerometer":[-0.7056909799575806,0.292691171169281,9.808745384216309],"rpy":[0.003506666049361229,0.04205654561519623,0.27113237977027893],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34561440348625183,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011871307156980038,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.009026138111948967,"velocity_rad_s":0.17313042283058167,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302104592323303,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-9.140625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3095940053462982,"velocity_rad_s":0.01166729535907507,"acceleration_raw":0.0,"estimated_torque_nm":6.150854110717773,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010552069172263145,"velocity_rad_s":-0.0017782313516363502,"acceleration_raw":0.0,"estimated_torque_nm":-0.942230224609375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34849485754966736,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014709170907735825,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009561813436448574,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5977923274040222,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29637008905410767,"velocity_rad_s":0.022305114194750786,"acceleration_raw":0.0,"estimated_torque_nm":4.434942245483398,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029351073317229748,"velocity_rad_s":-0.007563178893178701,"acceleration_raw":0.0,"estimated_torque_nm":0.8973965048789978,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005316582508385181,"velocity_rad_s":-0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0031013903208076954,"velocity_rad_s":0.05156314745545387,"acceleration_raw":0.0,"estimated_torque_nm":-0.8360235691070557,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03751203045248985,"velocity_rad_s":0.02073679491877556,"acceleration_raw":0.0,"estimated_torque_nm":1.2928448915481567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29212746024131775,"velocity_rad_s":-0.19788353145122528,"acceleration_raw":0.0,"estimated_torque_nm":0.5,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9886746406555176,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02371678128838539,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03656386956572533,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255693316459656,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788572978336,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810643,"imu":{"quaternion":[0.9906166791915894,-0.001095793442800641,0.021120307967066765,0.13502416014671326],"gyroscope":[0.03302319347858429,0.09693904966115952,-0.12250539660453796],"accelerometer":[-0.7056909799575806,0.292691171169281,9.808745384216309],"rpy":[0.0035356285516172647,0.042152661830186844,0.27101120352745056],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34560588002204895,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011871307156980038,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.009146664291620255,"velocity_rad_s":0.16113129258155823,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302019357681274,"velocity_rad_s":-0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3095525801181793,"velocity_rad_s":0.02598152495920658,"acceleration_raw":0.0,"estimated_torque_nm":6.150854110717773,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010537832044064999,"velocity_rad_s":-0.006322495173662901,"acceleration_raw":0.0,"estimated_torque_nm":-0.942230224609375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3483414649963379,"velocity_rad_s":0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014734737575054169,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009575205855071545,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5978178977966309,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-9.755859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2963121235370636,"velocity_rad_s":0.04033081978559494,"acceleration_raw":0.0,"estimated_torque_nm":4.525686264038086,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002949170069769025,"velocity_rad_s":-0.005836216267198324,"acceleration_raw":0.0,"estimated_torque_nm":0.9495165944099426,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005249623209238052,"velocity_rad_s":-0.08056564629077911,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0031165876425802708,"velocity_rad_s":0.04183190315961838,"acceleration_raw":0.0,"estimated_torque_nm":-0.8360235691070557,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.037482503801584244,"velocity_rad_s":0.030832791700959206,"acceleration_raw":0.0,"estimated_torque_nm":1.2928448915481567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29189977049827576,"velocity_rad_s":-0.19481556117534637,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005057343281805515,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9886146783828735,"velocity_rad_s":-0.08130098134279251,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023692812770605087,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22692130506038666,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788574892800,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810644,"imu":{"quaternion":[0.9906166791915894,-0.001095793442800641,0.021120307967066765,0.13502416014671326],"gyroscope":[0.03302319347858429,0.09693904966115952,-0.12250539660453796],"accelerometer":[-0.7056909799575806,0.292691171169281,9.808745384216309],"rpy":[0.0035356285516172647,0.042152661830186844,0.27101120352745056],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34559735655784607,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011896872892975807,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.009307367727160454,"velocity_rad_s":0.18684373795986176,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302104592323303,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3095194399356842,"velocity_rad_s":0.03551197052001953,"acceleration_raw":0.0,"estimated_torque_nm":6.241559982299805,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010523558594286442,"velocity_rad_s":-0.01553790271282196,"acceleration_raw":0.0,"estimated_torque_nm":-0.994074285030365,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3482306897640228,"velocity_rad_s":0.1287180334329605,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014760304242372513,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00958859734237194,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5978689789772034,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-9.755859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2962251305580139,"velocity_rad_s":0.06843741238117218,"acceleration_raw":0.0,"estimated_torque_nm":4.615711212158203,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0029557987581938505,"velocity_rad_s":-0.005105277989059687,"acceleration_raw":0.0,"estimated_torque_nm":0.8981061577796936,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0052094473503530025,"velocity_rad_s":-0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.003154589794576168,"velocity_rad_s":0.04085884243249893,"acceleration_raw":0.0,"estimated_torque_nm":-0.8360235691070557,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03745793178677559,"velocity_rad_s":0.03146423026919365,"acceleration_raw":0.0,"estimated_torque_nm":1.2928448915481567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2917439937591553,"velocity_rad_s":-0.19788353145122528,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005057343281805515,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9885667562484741,"velocity_rad_s":-0.07516506314277649,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023668844252824783,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22689732909202576,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17867282032966614,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788577187264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810645,"imu":{"quaternion":[0.9906238317489624,-0.001087515032850206,0.02116876095533371,0.13496361672878265],"gyroscope":[0.030892664566636086,0.09480852633714676,-0.12250539660453796],"accelerometer":[-0.7389104962348938,0.22625206410884857,9.76205825805664],"rpy":[0.0035625742748379707,0.04224667325615883,0.2708899676799774],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3455803096294403,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011913917027413845,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.009360934607684612,"velocity_rad_s":0.14741799235343933,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302104592323303,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094988167285919,"velocity_rad_s":0.030162420123815536,"acceleration_raw":0.0,"estimated_torque_nm":6.150854110717773,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010487462393939495,"velocity_rad_s":-0.03784237429499626,"acceleration_raw":0.0,"estimated_torque_nm":-0.942230224609375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3481113612651825,"velocity_rad_s":0.1330813616514206,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014768825843930244,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00958859734237194,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5979371666908264,"velocity_rad_s":0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":-9.755859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2961212992668152,"velocity_rad_s":0.08442157506942749,"acceleration_raw":0.0,"estimated_torque_nm":4.615711212158203,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028899675235152245,"velocity_rad_s":-0.02373710833489895,"acceleration_raw":0.0,"estimated_torque_nm":0.8981061577796936,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00516927195712924,"velocity_rad_s":-0.07713732123374939,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0032001954969018698,"velocity_rad_s":0.04669678211212158,"acceleration_raw":0.0,"estimated_torque_nm":-0.8360235691070557,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03744813799858093,"velocity_rad_s":0.030196666717529297,"acceleration_raw":0.0,"estimated_torque_nm":1.2928448915481567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29162412881851196,"velocity_rad_s":-0.19788353145122528,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005045359022915363,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9885188341140747,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023668844252824783,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22687336802482605,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03656386956572533,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255693316459656,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788579210080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810646,"imu":{"quaternion":[0.9906312823295593,-0.001081625116057694,0.021214885637164116,0.13490156829357147],"gyroscope":[0.02556634321808815,0.09054746478796005,-0.1257011890411377],"accelerometer":[-0.8457517623901367,0.20111294090747833,9.640851974487305],"rpy":[0.003584078745916486,0.042336732149124146,0.2707655727863312],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3455462157726288,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011913917027413845,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.009427894838154316,"velocity_rad_s":0.11999139189720154,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302189826965332,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30949467420578003,"velocity_rad_s":0.01852482184767723,"acceleration_raw":0.0,"estimated_torque_nm":6.150854110717773,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010480242781341076,"velocity_rad_s":-0.021217990666627884,"acceleration_raw":0.0,"estimated_torque_nm":-0.942230224609375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3479750156402588,"velocity_rad_s":0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":3.33984375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014785869978368282,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009601988829672337,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.22372159361839294,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5979712605476379,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-9.755859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29605498909950256,"velocity_rad_s":0.07652038335800171,"acceleration_raw":0.0,"estimated_torque_nm":4.706454753875732,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0028895074501633644,"velocity_rad_s":-0.037572912871837616,"acceleration_raw":0.0,"estimated_torque_nm":0.9502262473106384,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00512909609824419,"velocity_rad_s":-0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00323059712536633,"velocity_rad_s":0.051561880856752396,"acceleration_raw":0.0,"estimated_torque_nm":-0.8360235691070557,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03742847591638565,"velocity_rad_s":0.028300011530518532,"acceleration_raw":0.0,"estimated_torque_nm":1.2928448915481567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29148033261299133,"velocity_rad_s":-0.21322333812713623,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9884828925132751,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023572970181703568,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2268853485584259,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788581432352,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810647,"imu":{"quaternion":[0.9906389117240906,-0.001076752319931984,0.021261198446154594,0.13483847677707672],"gyroscope":[0.023435814306139946,0.09054746478796005,-0.12783171236515045],"accelerometer":[-1.0342950820922852,0.28461071848869324,9.679458618164062],"rpy":[0.0036035601515322924,0.04242744669318199,0.2706390619277954],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34551212191581726,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011913917027413845,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.009494854137301445,"velocity_rad_s":0.11313474178314209,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302104592323303,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3095029294490814,"velocity_rad_s":0.008469443768262863,"acceleration_raw":0.0,"estimated_torque_nm":6.150854110717773,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010494682006537914,"velocity_rad_s":-0.009222454391419888,"acceleration_raw":0.0,"estimated_torque_nm":-0.942230224609375,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3476511836051941,"velocity_rad_s":0.22362031042575836,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014785869978368282,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00958859734237194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5979968309402466,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-9.755859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2960298955440521,"velocity_rad_s":0.07019215822219849,"acceleration_raw":0.0,"estimated_torque_nm":4.706454753875732,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002831455320119858,"velocity_rad_s":-0.046789418905973434,"acceleration_raw":0.0,"estimated_torque_nm":0.9502262473106384,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.005048744846135378,"velocity_rad_s":-0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0032457930501550436,"velocity_rad_s":0.035993531346321106,"acceleration_raw":0.0,"estimated_torque_nm":-0.8360235691070557,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03738910332322121,"velocity_rad_s":0.03462142497301102,"acceleration_raw":0.0,"estimated_torque_nm":1.2928448915481567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2911927103996277,"velocity_rad_s":-0.20555342733860016,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005057343281805515,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.988434910774231,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02353701926767826,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007286408916115761,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2268853485584259,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03656386956572533,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788567146720,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":44032,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":36096,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":31744,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":31488,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":46592,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0}],"touch_metric":0.0,"controller_state_before":"hold"} +{"timestamp_monotonic_ns":788583199968,"stream":"brainco.motor","data":{"currents":[9,-102,18,1,-16,2],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [9, -102, 18, 1, -16, 2],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":788584244128,"stream":"controller.decision","data":{"state":"releasing","close_value":0,"command_close":0,"trigger_arm":false,"release_arm":false,"entered_hold":false,"event":"release_during_hold","touch_metric":0.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.0}} +{"timestamp_monotonic_ns":788584473216,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810648,"imu":{"quaternion":[0.9906465411186218,-0.0010729358764365315,0.021307997405529022,0.13477547466754913],"gyroscope":[0.021305285394191742,0.09054746478796005,-0.12783171236515045],"accelerometer":[-1.3494319915771484,0.2603694200515747,9.279027938842773],"rpy":[0.0036210704129189253,0.04251940920948982,0.2705126702785492],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3455035984516144,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.011913917027413845,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.009561813436448574,"velocity_rad_s":0.10627809166908264,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6301934123039246,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-9.052734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3095070719718933,"velocity_rad_s":0.0047577982768416405,"acceleration_raw":0.0,"estimated_torque_nm":6.060147762298584,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010501900687813759,"velocity_rad_s":-0.008319240994751453,"acceleration_raw":0.0,"estimated_torque_nm":-0.8903862237930298,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3474977910518646,"velocity_rad_s":0.2410736083984375,"acceleration_raw":0.0,"estimated_torque_nm":3.1640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01483700331300497,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00958859734237194,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-0.2796519994735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5980224013328552,"velocity_rad_s":0.056723207235336304,"acceleration_raw":0.0,"estimated_torque_nm":-9.755859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2960089445114136,"velocity_rad_s":0.05698714777827263,"acceleration_raw":0.0,"estimated_torque_nm":4.706454753875732,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0027661994099617004,"velocity_rad_s":-0.060588400810956955,"acceleration_raw":0.0,"estimated_torque_nm":0.9502262473106384,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004995177034288645,"velocity_rad_s":-0.09085062146186829,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0033370028249919415,"velocity_rad_s":0.06420977413654327,"acceleration_raw":0.0,"estimated_torque_nm":-0.8360235691070557,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03735966980457306,"velocity_rad_s":0.03143613412976265,"acceleration_raw":0.0,"estimated_torque_nm":1.2928448915481567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.29104888439178467,"velocity_rad_s":-0.21629129350185394,"acceleration_raw":0.0,"estimated_torque_nm":0.5625,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005033374764025211,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9883989691734314,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.023489082232117653,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007274424657225609,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2268613874912262,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788586514624,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810670,"imu":{"quaternion":[0.990797221660614,-0.0009799107210710645,0.021898703649640083,0.13356804847717285],"gyroscope":[-0.0010652643395587802,0.03195792809128761,-0.07350324094295502],"accelerometer":[-0.5324106216430664,0.47405192255973816,10.209175109863281],"rpy":[0.003911887761205435,0.04366999864578247,0.26808708906173706],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3450774848461151,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012212191708385944,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011048314161598682,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6301848888397217,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944064259529114,"velocity_rad_s":0.008499142713844776,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560316033661366,"velocity_rad_s":0.0056236982345581055,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3452053368091583,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015084144659340382,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009642165154218674,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5986785888671875,"velocity_rad_s":0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2948318421840668,"velocity_rad_s":0.12614762783050537,"acceleration_raw":0.0,"estimated_torque_nm":6.152604579925537,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0016221863916143775,"velocity_rad_s":-0.11477900296449661,"acceleration_raw":0.0,"estimated_torque_nm":0.9559035301208496,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004218447022140026,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004408235661685467,"velocity_rad_s":0.04471198469400406,"acceleration_raw":0.0,"estimated_torque_nm":-1.1319235563278198,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.035573810338974,"velocity_rad_s":0.11333445459604263,"acceleration_raw":0.0,"estimated_torque_nm":0.684267520904541,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2864469587802887,"velocity_rad_s":-0.25310683250427246,"acceleration_raw":0.0,"estimated_torque_nm":1.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20393556356430054,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9878237247467041,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457042098045349,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022710107266902924,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007370298728346825,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22578279674053192,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788588514976,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810671,"imu":{"quaternion":[0.990797221660614,-0.0009799107210710645,0.021898703649640083,0.13356804847717285],"gyroscope":[-0.0010652643395587802,0.03195792809128761,-0.07350324094295502],"accelerometer":[-0.5324106216430664,0.47405192255973816,10.209175109863281],"rpy":[0.003911887761205435,0.04366999864578247,0.26808708906173706],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34500932693481445,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012203669175505638,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011061705648899078,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6301934123039246,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944064259529114,"velocity_rad_s":0.007434429135173559,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560316033661366,"velocity_rad_s":0.0037608803249895573,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3451371490955353,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015118232928216457,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009628772735595703,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5986956357955933,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29476091265678406,"velocity_rad_s":0.12196274101734161,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.001498705823905766,"velocity_rad_s":-0.12956665456295013,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004205055069178343,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004476588685065508,"velocity_rad_s":0.05151915177702904,"acceleration_raw":0.0,"estimated_torque_nm":-1.1314365863800049,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.035421375185251236,"velocity_rad_s":0.1202147901058197,"acceleration_raw":0.0,"estimated_torque_nm":0.6842676997184753,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28608742356300354,"velocity_rad_s":-0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9878117442131042,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022722091525793076,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2257348597049713,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05878262594342232,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788590437408,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810672,"imu":{"quaternion":[0.9908011555671692,-0.0009840195998549461,0.021909570321440697,0.1335364431142807],"gyroscope":[-0.0053263213485479355,0.026631608605384827,-0.0649811252951622],"accelerometer":[-0.46327802538871765,0.4067150056362152,10.129268646240234],"rpy":[0.0039052539505064487,0.04369276016950607,0.26802322268486023],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34496670961380005,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012229235842823982,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011115273460745811,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6301848888397217,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30943647027015686,"velocity_rad_s":0.007445565424859524,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010567590594291687,"velocity_rad_s":0.009328186511993408,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3451201021671295,"velocity_rad_s":0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015152321197092533,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009628772735595703,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5987212061882019,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29468587040901184,"velocity_rad_s":0.10926266759634018,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.001382429152727127,"velocity_rad_s":-0.1368868499994278,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004178271628916264,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004506959579885006,"velocity_rad_s":0.04956960305571556,"acceleration_raw":0.0,"estimated_torque_nm":-1.0823720693588257,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03533284366130829,"velocity_rad_s":0.13156281411647797,"acceleration_raw":0.0,"estimated_torque_nm":0.6082117557525635,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2858956754207611,"velocity_rad_s":-0.2684466540813446,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20393556356430054,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9877278804779053,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22569891810417175,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788592069440,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810673,"imu":{"quaternion":[0.99080491065979,-0.000989670166745782,0.02191467396914959,0.13350863754749298],"gyroscope":[-0.010652642697095871,0.015978964045643806,-0.05752427130937576],"accelerometer":[-0.46327802538871765,0.4067150056362152,10.129268646240234],"rpy":[0.003894183784723282,0.043704502284526825,0.26796695590019226],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3449326157569885,"velocity_rad_s":0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01224627997726202,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011115273460745811,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.630236029624939,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944064259529114,"velocity_rad_s":0.0005286442465148866,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560316033661366,"velocity_rad_s":-0.000924360123462975,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3450945317745209,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015169365331530571,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009642165154218674,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5987467765808105,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2945815622806549,"velocity_rad_s":0.09549455344676971,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0012008390622213483,"velocity_rad_s":-0.1423475295305252,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00416487967595458,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004567725118249655,"velocity_rad_s":0.051512688398361206,"acceleration_raw":0.0,"estimated_torque_nm":-1.1318587064743042,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.035224705934524536,"velocity_rad_s":0.13911916315555573,"acceleration_raw":0.0,"estimated_torque_nm":0.5321221351623535,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2857039272785187,"velocity_rad_s":-0.2653786838054657,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039475440979004,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9877158999443054,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22562700510025024,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788594407200,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810674,"imu":{"quaternion":[0.9908083081245422,-0.0009943433105945587,0.021913768723607063,0.13348345458507538],"gyroscope":[-0.010652642697095871,0.004261057358235121,-0.05219795182347298],"accelerometer":[-0.3932476341724396,0.2702455222606659,10.066421508789062],"rpy":[0.003883561585098505,0.04370405524969101,0.26791590452194214],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344898521900177,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012271846644580364,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011115273460745811,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302530169487,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944064259529114,"velocity_rad_s":-0.001597069320268929,"acceleration_raw":0.0,"estimated_torque_nm":7.3259148597717285,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560316033661366,"velocity_rad_s":-0.0027942268643528223,"acceleration_raw":0.0,"estimated_torque_nm":-0.9962433576583862,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3450774848461151,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015194931998848915,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009642165154218674,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5987638235092163,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2945232093334198,"velocity_rad_s":0.09550182521343231,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0011136081302538514,"velocity_rad_s":-0.1441996693611145,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004138095770031214,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004620881751179695,"velocity_rad_s":0.03983564302325249,"acceleration_raw":0.0,"estimated_torque_nm":-1.0827943086624146,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.035091932862997055,"velocity_rad_s":0.14797359704971313,"acceleration_raw":0.0,"estimated_torque_nm":0.45606619119644165,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2855481207370758,"velocity_rad_s":-0.26998063921928406,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20395952463150024,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9876918792724609,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22554311156272888,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17872075736522675,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788596382592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810675,"imu":{"quaternion":[0.9908114671707153,-0.0009938086150214076,0.021906787529587746,0.13346074521541595],"gyroscope":[-0.0021305286791175604,-0.008522114716470242,-0.04687162861227989],"accelerometer":[-0.26575639843940735,0.20290859043598175,10.082581520080566],"rpy":[0.003881752723827958,0.043690163642168045,0.2678699195384979],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448474109172821,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01230593491345644,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011142057366669178,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302530169487,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944064259529114,"velocity_rad_s":0.003183001885190606,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560316033661366,"velocity_rad_s":2.114651579177007e-05,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3450263738632202,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015203453600406647,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00965555664151907,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5987808704376221,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29450228810310364,"velocity_rad_s":0.07901272922754288,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010628175223246217,"velocity_rad_s":-0.132046639919281,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0041247038170695305,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004620831459760666,"velocity_rad_s":0.03983306512236595,"acceleration_raw":0.0,"estimated_torque_nm":-1.0827943086624146,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.034944240003824234,"velocity_rad_s":0.15553534030914307,"acceleration_raw":0.0,"estimated_torque_nm":0.45606619119644165,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2852245569229126,"velocity_rad_s":-0.2485048919916153,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20395952463150024,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9876319766044617,"velocity_rad_s":-0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253873199224472,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788598413152,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810676,"imu":{"quaternion":[0.9908143281936646,-0.0009874004172161222,0.02189606800675392,0.1334410309791565],"gyroscope":[0.008522114716470242,-0.017044229432940483,-0.04048004373908043],"accelerometer":[-0.31603461503982544,0.08978256583213806,9.729736328125],"rpy":[0.003890725551173091,0.043667271733284,0.2678301930427551],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448388874530792,"velocity_rad_s":0.040360741317272186,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01236558984965086,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011155448853969574,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302700638771057,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944064259529114,"velocity_rad_s":0.001585932681336999,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560316033661366,"velocity_rad_s":-0.0027730802539736032,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3449837565422058,"velocity_rad_s":0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01522902026772499,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":0.615234375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00965555664151907,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5988234877586365,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29445233941078186,"velocity_rad_s":0.07524552196264267,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010045929811894894,"velocity_rad_s":-0.11812983453273773,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004111311864107847,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":53.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004825967829674482,"velocity_rad_s":0.05539670214056969,"acceleration_raw":0.0,"estimated_torque_nm":-1.1322808265686035,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.034742966294288635,"velocity_rad_s":0.16053332388401031,"acceleration_raw":0.0,"estimated_torque_nm":0.3799765408039093,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2850687801837921,"velocity_rad_s":-0.2316311150789261,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20395952463150024,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9875840544700623,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253154218196869,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788600532960,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810677,"imu":{"quaternion":[0.9908169507980347,-0.000978335039690137,0.021880311891436577,0.13342441618442535],"gyroscope":[0.012783171609044075,-0.027696872130036354,-0.034088458865880966],"accelerometer":[-0.48303020000457764,-0.08708908408880234,9.473855972290039],"rpy":[0.003903759177774191,0.043633680790662766,0.26779675483703613],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448133170604706,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012416722252964973,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011168841272592545,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302700638771057,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944064259529114,"velocity_rad_s":0.002661782316863537,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560316033661366,"velocity_rad_s":0.004657045006752014,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3449496626853943,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015263108536601067,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5988916754722595,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29440659284591675,"velocity_rad_s":0.0570889413356781,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009536298457533121,"velocity_rad_s":-0.08651832491159439,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004084527958184481,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004879128187894821,"velocity_rad_s":0.06901510804891586,"acceleration_raw":0.0,"estimated_torque_nm":-1.1817673444747925,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03462003916501999,"velocity_rad_s":0.16427640616893768,"acceleration_raw":0.0,"estimated_torque_nm":0.30388692021369934,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2849249541759491,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005165201146155596,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9875121712684631,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22524350881576538,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788602682784,"stream":"controller.command","data":{"kind":"finger_positions","positions":[0,0,0,0,0,0],"reason":"release_during_hold"}} +{"timestamp_monotonic_ns":788602894688,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810678,"imu":{"quaternion":[0.9908191561698914,-0.000969196087680757,0.021862920373678207,0.13341093063354492],"gyroscope":[0.012783171609044075,-0.030892664566636086,-0.027696872130036354],"accelerometer":[-0.48303020000457764,-0.08708908408880234,9.473855972290039],"rpy":[0.003916640300303698,0.04359681159257889,0.26776963472366333],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3447962701320648,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012467854656279087,"velocity_rad_s":-0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011195625178515911,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302700638771057,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944889783859253,"velocity_rad_s":-0.0031607288401573896,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010574772953987122,"velocity_rad_s":0.011113467626273632,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3448899984359741,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015254586935043335,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5989342927932739,"velocity_rad_s":0.06108652800321579,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29440242052078247,"velocity_rad_s":0.04692080244421959,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009463683818466961,"velocity_rad_s":-0.06329666078090668,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004084527958184481,"velocity_rad_s":-0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.004932288080453873,"velocity_rad_s":0.06706814467906952,"acceleration_raw":0.0,"estimated_torque_nm":-1.1817673444747925,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03449711203575134,"velocity_rad_s":0.16806268692016602,"acceleration_raw":0.0,"estimated_torque_nm":0.30388692021369934,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2847691476345062,"velocity_rad_s":-0.23009712994098663,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9874522089958191,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022674154490232468,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22519557178020477,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788604955104,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810679,"imu":{"quaternion":[0.9908214807510376,-0.0009631536668166518,0.021847305819392204,0.13339649140834808],"gyroscope":[0.0074568502604961395,-0.026631608605384827,-0.029827401041984558],"accelerometer":[-0.5252280235290527,-0.0035913025494664907,9.493608474731445],"rpy":[0.003923814278095961,0.04356430098414421,0.26774051785469055],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34477922320365906,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012493421323597431,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011222408153116703,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302700638771057,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30943647027015686,"velocity_rad_s":0.0037339197006076574,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010567590594291687,"velocity_rad_s":0.010231400839984417,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34482184052467346,"velocity_rad_s":0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015263108536601067,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009642165154218674,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5989513397216797,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29439830780029297,"velocity_rad_s":0.03361399844288826,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009535723365843296,"velocity_rad_s":-0.05116572231054306,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004044352564960718,"velocity_rad_s":-0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00492463493719697,"velocity_rad_s":0.06119411066174507,"acceleration_raw":0.0,"estimated_torque_nm":-1.1817618608474731,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03436419740319252,"velocity_rad_s":0.16414333879947662,"acceleration_raw":0.0,"estimated_torque_nm":0.30389538407325745,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2844935357570648,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9874282479286194,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22509969770908356,"velocity_rad_s":-0.08436894416809082,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1787087619304657,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788606988704,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810680,"imu":{"quaternion":[0.9908238053321838,-0.0009586513042449951,0.021835219115018845,0.13338156044483185],"gyroscope":[0.0053263213485479355,-0.019174758344888687,-0.030892664566636086],"accelerometer":[-0.456095427274704,0.14006079733371735,9.544784545898438],"rpy":[0.003928855061531067,0.043539196252822876,0.2677103877067566],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3447706997394562,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012553076259791851,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011235800571739674,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302615404129028,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094530999660492,"velocity_rad_s":-0.001064712880179286,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010553005151450634,"velocity_rad_s":-0.0018628179095685482,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34478774666786194,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015263108536601067,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00965555664151907,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5990109443664551,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29440250992774963,"velocity_rad_s":0.017117636278271675,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009752991027198732,"velocity_rad_s":-0.03716056048870087,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004030960611999035,"velocity_rad_s":-0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00503855524584651,"velocity_rad_s":0.05147428810596466,"acceleration_raw":0.0,"estimated_torque_nm":-1.1322317123413086,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.034231748431921005,"velocity_rad_s":0.15032239258289337,"acceleration_raw":0.0,"estimated_torque_nm":0.38005203008651733,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2843497097492218,"velocity_rad_s":-0.2208932489156723,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20395952463150024,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.98738032579422,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.9375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.24375000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.225063756108284,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788608904672,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810681,"imu":{"quaternion":[0.9908258318901062,-0.0009552756091579795,0.0218247901648283,0.13336773216724396],"gyroscope":[0.0031957929022610188,-0.014913700520992279,-0.02876213565468788],"accelerometer":[-0.1885433793067932,0.25408464670181274,9.733327865600586],"rpy":[0.003932154271751642,0.04351767152547836,0.26768240332603455],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34477922320365906,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01257864199578762,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01124919205904007,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302785873413086,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309444785118103,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010567553341388702,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34474512934684753,"velocity_rad_s":0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015263108536601067,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009628772735595703,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5990961790084839,"velocity_rad_s":0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":-8.525390625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441073536872864,"velocity_rad_s":0.007007663603872061,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009608912514522672,"velocity_rad_s":-0.028755992650985718,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004017568659037352,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005030916538089514,"velocity_rad_s":0.04466960206627846,"acceleration_raw":0.0,"estimated_torque_nm":-1.1322317123413086,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03415793552994728,"velocity_rad_s":0.14215894043445587,"acceleration_raw":0.0,"estimated_torque_nm":0.38005203008651733,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28424185514450073,"velocity_rad_s":-0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20395952463150024,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9872844219207764,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007370298728346825,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2250158190727234,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03651593253016472,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788610785664,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810682,"imu":{"quaternion":[0.9908258318901062,-0.0009552756091579795,0.0218247901648283,0.13336773216724396],"gyroscope":[0.0031957929022610188,-0.014913700520992279,-0.02876213565468788],"accelerometer":[-0.1885433793067932,0.25408464670181274,9.733327865600586],"rpy":[0.003932154271751642,0.04351767152547836,0.26768240332603455],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34477922320365906,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012612731195986271,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01124919205904007,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302871108055115,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-8.61328125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094530999660492,"velocity_rad_s":-0.0058559211902320385,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010553005151450634,"velocity_rad_s":-0.010245499201118946,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3447195589542389,"velocity_rad_s":0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015263108536601067,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009642165154218674,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5991132259368896,"velocity_rad_s":0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944107949733734,"velocity_rad_s":0.00804661400616169,"acceleration_raw":0.0,"estimated_torque_nm":5.971836090087891,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009753566118888557,"velocity_rad_s":-0.023206941783428192,"acceleration_raw":0.0,"estimated_torque_nm":0.9551938772201538,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.004017568659037352,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.7270951867103577,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005046078935265541,"velocity_rad_s":0.03981034830212593,"acceleration_raw":0.0,"estimated_torque_nm":-1.1817618608474731,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.034089114516973495,"velocity_rad_s":0.1339891254901886,"acceleration_raw":0.0,"estimated_torque_nm":0.30389538407325745,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2841220200061798,"velocity_rad_s":-0.21015538275241852,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9872245192527771,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022710107266902924,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22496788203716278,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17869678139686584,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788612406400,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810683,"imu":{"quaternion":[0.9908284544944763,-0.0009472781093791127,0.02180635742843151,0.13335168361663818],"gyroscope":[0.0031957929022610188,-0.010652642697095871,-0.012783171609044075],"accelerometer":[-0.166995570063591,0.353743314743042,9.710882186889648],"rpy":[0.003942384384572506,0.043479058891534805,0.2676500678062439],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3447706997394562,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012629775330424309,"velocity_rad_s":-0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01126258447766304,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6303041577339172,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-8.4375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944889783859253,"velocity_rad_s":-0.0026654943358153105,"acceleration_raw":0.0,"estimated_torque_nm":7.235895156860352,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010574772953987122,"velocity_rad_s":-0.006512813735753298,"acceleration_raw":0.0,"estimated_torque_nm":-1.0477259159088135,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.344668447971344,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015271631069481373,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":0.703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009642165154218674,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5991387963294983,"velocity_rad_s":0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29440662264823914,"velocity_rad_s":0.009100105613470078,"acceleration_raw":0.0,"estimated_torque_nm":6.061861038208008,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009680952061899006,"velocity_rad_s":-0.021362168714404106,"acceleration_raw":0.0,"estimated_torque_nm":0.9037834405899048,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.003964001312851906,"velocity_rad_s":-0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":-0.6711647510528564,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0049852291122078896,"velocity_rad_s":0.0193836260586977,"acceleration_raw":0.0,"estimated_torque_nm":-1.1812646389007568,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03398069366812706,"velocity_rad_s":0.13342617452144623,"acceleration_raw":0.0,"estimated_torque_nm":0.4561564326286316,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2839182913303375,"velocity_rad_s":-0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2039715200662613,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.987152636051178,"velocity_rad_s":-0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-0.875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2248360514640808,"velocity_rad_s":-0.06596117466688156,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788614290912,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810683,"imu":{"quaternion":[0.9908289313316345,-0.000942390994168818,0.0218006931245327,0.13334892690181732],"gyroscope":[0.0053263213485479355,-0.004261057358235121,-0.0063915858045220375],"accelerometer":[-0.259471595287323,0.45160630345344543,9.665990829467773],"rpy":[0.003950443118810654,0.043466534465551376,0.26764461398124695],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3447962701320648,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012680907733738422,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01126258447766304,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302785873413086,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094572126865387,"velocity_rad_s":-0.008517703041434288,"acceleration_raw":0.0,"estimated_torque_nm":7.326601028442383,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560223832726479,"velocity_rad_s":-0.014902543276548386,"acceleration_raw":0.0,"estimated_torque_nm":-1.0995699167251587,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34464287757873535,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015246064402163029,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00965555664151907,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5991728901863098,"velocity_rad_s":0.0512690469622612,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944149672985077,"velocity_rad_s":0.002157882321625948,"acceleration_raw":0.0,"estimated_torque_nm":6.152604579925537,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009826180757954717,"velocity_rad_s":-0.009275414049625397,"acceleration_raw":0.0,"estimated_torque_nm":0.9559035301208496,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0039506093598902225,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005053545348346233,"velocity_rad_s":0.011604552157223225,"acceleration_raw":0.0,"estimated_torque_nm":-1.1307400465011597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03383825719356537,"velocity_rad_s":0.12841424345970154,"acceleration_raw":0.0,"estimated_torque_nm":0.8368351459503174,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2837984263896942,"velocity_rad_s":-0.18254372477531433,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9870926737785339,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2247641384601593,"velocity_rad_s":-0.07669904083013535,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1786608248949051,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788616189248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810684,"imu":{"quaternion":[0.9908289313316345,-0.000942390994168818,0.0218006931245327,0.13334892690181732],"gyroscope":[0.0053263213485479355,-0.004261057358235121,-0.0063915858045220375],"accelerometer":[-0.259471595287323,0.45160630345344543,9.665990829467773],"rpy":[0.003950443118810654,0.043466534465551376,0.26764461398124695],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448133170604706,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012706474401056767,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-1.494140625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011275975964963436,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302700638771057,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944064259529114,"velocity_rad_s":-0.0010906984098255634,"acceleration_raw":0.0,"estimated_torque_nm":7.417307376861572,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560316033661366,"velocity_rad_s":-0.014853201806545258,"acceleration_raw":0.0,"estimated_torque_nm":-1.151413917541504,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3446173071861267,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015263108536601067,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.966796875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00966894906014204,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5991984605789185,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441073536872864,"velocity_rad_s":0.0027355258353054523,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009608912514522672,"velocity_rad_s":-0.021317988634109497,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00388364982791245,"velocity_rad_s":-0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":-0.615234375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005091477185487747,"velocity_rad_s":0.013542643748223782,"acceleration_raw":0.0,"estimated_torque_nm":-1.1307400465011597,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03371540084481239,"velocity_rad_s":0.1422605812549591,"acceleration_raw":0.0,"estimated_torque_nm":0.8368351459503174,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.283702552318573,"velocity_rad_s":-0.17947575449943542,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9869608879089355,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22470422089099884,"velocity_rad_s":-0.08743690699338913,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1786608248949051,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788618070336,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810685,"imu":{"quaternion":[0.9908289313316345,-0.0009371130727231503,0.021797196939587593,0.13334985077381134],"gyroscope":[0.0063915858045220375,-0.0,0.0010652643395587802],"accelerometer":[-0.38157588243484497,0.2289455384016037,9.694721221923828],"rpy":[0.0039600166492164135,0.04345819354057312,0.2676466703414917],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34482184052467346,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012774650938808918,"velocity_rad_s":-0.07417649775743484,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011289368383586407,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302615404129028,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094530999660492,"velocity_rad_s":-0.006388277281075716,"acceleration_raw":0.0,"estimated_torque_nm":7.417307376861572,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010553005151450634,"velocity_rad_s":-0.01117690745741129,"acceleration_raw":0.0,"estimated_torque_nm":-1.151413917541504,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34459173679351807,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015280152671039104,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009682340547442436,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5992240309715271,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29440250992774963,"velocity_rad_s":0.0037599338684231043,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009752991027198732,"velocity_rad_s":-0.012064664624631405,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0038434739690274,"velocity_rad_s":-0.06513818353414536,"acceleration_raw":0.0,"estimated_torque_nm":-0.5593039989471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005152208264917135,"velocity_rad_s":0.03495689108967781,"acceleration_raw":0.0,"estimated_torque_nm":-1.0824559926986694,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.033587727695703506,"velocity_rad_s":0.15461231768131256,"acceleration_raw":0.0,"estimated_torque_nm":0.761893093585968,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2836066782474518,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20398350059986115,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9868889451026917,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":-0.8125,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22464430332183838,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1786608248949051,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788619953472,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810686,"imu":{"quaternion":[0.9908283948898315,-0.0009286240674555302,0.021801620721817017,0.13335278630256653],"gyroscope":[0.0053263213485479355,0.013848436065018177,0.0031957929022610188],"accelerometer":[-0.3968389332294464,0.006284779403358698,9.651625633239746],"rpy":[0.003978166729211807,0.04346468299627304,0.2676529884338379],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34482184052467346,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012808739207684994,"velocity_rad_s":-0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011302759870886803,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6302189826965332,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094489574432373,"velocity_rad_s":-0.005323564633727074,"acceleration_raw":0.0,"estimated_torque_nm":7.417307376861572,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010545767843723297,"velocity_rad_s":-0.009314090013504028,"acceleration_raw":0.0,"estimated_torque_nm":-1.151413917541504,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3445746898651123,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015271631069481373,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00973590835928917,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5992410778999329,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29440662264823914,"velocity_rad_s":0.0021724244579672813,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009680952061899006,"velocity_rad_s":-0.012979689054191113,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.003776514669880271,"velocity_rad_s":-0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0052053495310246944,"velocity_rad_s":0.031063172966241837,"acceleration_raw":0.0,"estimated_torque_nm":-1.131927490234375,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03345520794391632,"velocity_rad_s":0.16342566907405853,"acceleration_raw":0.0,"estimated_torque_nm":0.685645341873169,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28339096903800964,"velocity_rad_s":-0.16873788833618164,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9867931008338928,"velocity_rad_s":-0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22457239031791687,"velocity_rad_s":-0.07976700365543365,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.178684800863266,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03656386956572533,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788621863008,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810687,"imu":{"quaternion":[0.9908278584480286,-0.000923729152418673,0.0218055322766304,0.13335633277893066],"gyroscope":[0.008522114716470242,0.014913700520992279,0.0063915858045220375],"accelerometer":[-0.3968389332294464,0.006284779403358698,9.651625633239746],"rpy":[0.003989077173173428,0.04347112029790878,0.2676604390144348],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3448474109172821,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.012893960811197758,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011302759870886803,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6301848888397217,"velocity_rad_s":-0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30944889783859253,"velocity_rad_s":-0.0037079339381307364,"acceleration_raw":0.0,"estimated_torque_nm":7.417307376861572,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010574772953987122,"velocity_rad_s":0.002758982591331005,"acceleration_raw":0.0,"estimated_torque_nm":-1.151413917541504,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3445405960083008,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01528867520391941,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009749299846589565,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-0.7830255627632141,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5992666482925415,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29440250992774963,"velocity_rad_s":0.0037381204310804605,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009752991027198732,"velocity_rad_s":-0.0065082525834441185,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0037095551379024982,"velocity_rad_s":-0.07885148376226425,"acceleration_raw":0.0,"estimated_torque_nm":-0.5033735632896423,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0053572263568639755,"velocity_rad_s":0.06023700162768364,"acceleration_raw":0.0,"estimated_torque_nm":-1.181398868560791,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.033200107514858246,"velocity_rad_s":0.175931915640831,"acceleration_raw":0.0,"estimated_torque_nm":0.6093975901603699,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2832950949668884,"velocity_rad_s":-0.17180585861206055,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040194571018219,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9867211580276489,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022674154490232468,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22454842925071716,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17867282032966614,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03658783808350563,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788623737248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810688,"imu":{"quaternion":[0.9908278584480286,-0.000923729152418673,0.0218055322766304,0.13335633277893066],"gyroscope":[0.008522114716470242,0.014913700520992279,0.0063915858045220375],"accelerometer":[-0.3968389332294464,0.006284779403358698,9.651625633239746],"rpy":[0.003989077173173428,0.04347112029790878,0.2676604390144348],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344855934381485,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01296213734894991,"velocity_rad_s":-0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011342935264110565,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6301507949829102,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-9.052734375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094572126865387,"velocity_rad_s":-0.005848496686667204,"acceleration_raw":0.0,"estimated_torque_nm":7.417307376861572,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010560223832726479,"velocity_rad_s":-0.006533960811793804,"acceleration_raw":0.0,"estimated_torque_nm":-1.151413917541504,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34450650215148926,"velocity_rad_s":0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.015305719338357449,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":0.87890625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009749299846589565,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-0.8389559984207153,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5993177890777588,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944066822528839,"velocity_rad_s":-0.0004976617055945098,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009825605666264892,"velocity_rad_s":-0.008330936543643475,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.003655987558886409,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":-0.4474431872367859,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005425573326647282,"velocity_rad_s":0.06315650045871735,"acceleration_raw":0.0,"estimated_torque_nm":-1.181398868560791,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.033097103238105774,"velocity_rad_s":0.17152288556098938,"acceleration_raw":0.0,"estimated_torque_nm":0.6093975901603699,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28321120142936707,"velocity_rad_s":-0.16260196268558502,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.203995481133461,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9865414500236511,"velocity_rad_s":-0.1257864236831665,"acceleration_raw":0.0,"estimated_torque_nm":-0.75,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22452445328235626,"velocity_rad_s":-0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17867282032966614,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05881857872009277,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788625624000,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810705,"imu":{"quaternion":[0.9908255934715271,-0.0007538313511759043,0.02171001397073269,0.13338960707187653],"gyroscope":[0.026631608605384827,-0.010652642697095871,-0.011717907153069973],"accelerometer":[-0.5503671169281006,0.0736217051744461,9.688436508178711],"rpy":[0.004301983863115311,0.043236251920461655,0.26773330569267273],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3447962701320648,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01366095058619976,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011704516597092152,"velocity_rad_s":0.0634240210056305,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629861056804657,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309461385011673,"velocity_rad_s":-0.008502854034304619,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010552950203418732,"velocity_rad_s":-0.007479466497898102,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3436543047428131,"velocity_rad_s":0.06435901671648026,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014990401454269886,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009601988829672337,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998290777206421,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441502690315247,"velocity_rad_s":0.0005267460946924984,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009970833780243993,"velocity_rad_s":0.0009223870001733303,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0015802436973899603,"velocity_rad_s":-0.16798794269561768,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005759430583566427,"velocity_rad_s":0.029126254841685295,"acceleration_raw":0.0,"estimated_torque_nm":-1.179703712463379,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.031888850033283234,"velocity_rad_s":0.08409520238637924,"acceleration_raw":0.0,"estimated_torque_nm":0.9147765636444092,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2817491292953491,"velocity_rad_s":-0.10277671366930008,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9841086268424988,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22398516535758972,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788627507360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810706,"imu":{"quaternion":[0.9908279776573181,-0.0007350974483415484,0.021694332361221313,0.13337524235248566],"gyroscope":[0.012783171609044075,-0.009587379172444344,-0.014913700520992279],"accelerometer":[-0.4794389009475708,-0.10684125125408173,9.723451614379883],"rpy":[0.004334320314228535,0.04320022836327553,0.2677048444747925],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34477922320365906,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013703561387956142,"velocity_rad_s":-0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011731300503015518,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629878044128418,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094572424888611,"velocity_rad_s":-0.0026654943358153105,"acceleration_raw":0.0,"estimated_torque_nm":7.417993545532227,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010545730590820312,"velocity_rad_s":-0.006512813735753298,"acceleration_raw":0.0,"estimated_torque_nm":-1.2547404766082764,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34358611702919006,"velocity_rad_s":0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":4.658203125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014990401454269886,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009601988829672337,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998461246490479,"velocity_rad_s":0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441091418266296,"velocity_rad_s":0.0036944937892258167,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.001004305318929255,"velocity_rad_s":0.004604571498930454,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.001379365217871964,"velocity_rad_s":-0.16970211267471313,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005774597637355328,"velocity_rad_s":0.031069062650203705,"acceleration_raw":0.0,"estimated_torque_nm":-1.179703712463379,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03183981403708458,"velocity_rad_s":0.08785833418369293,"acceleration_raw":0.0,"estimated_torque_nm":0.9147765636444092,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28171318769454956,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9839528203010559,"velocity_rad_s":-0.21475732326507568,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22396120429039001,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788629400768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810707,"imu":{"quaternion":[0.9908285737037659,-0.0007317421259358525,0.02168787270784378,0.13337138295173645],"gyroscope":[0.0053263213485479355,-0.0063915858045220375,-0.008522114716470242],"accelerometer":[-0.4794389009475708,-0.10684125125408173,9.723451614379883],"rpy":[0.004339079838246107,0.04318653792142868,0.2676970958709717],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34473660588264465,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01375469472259283,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01177147589623928,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629861056804657,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309461385011673,"velocity_rad_s":-1.1136643479403574e-05,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010552950203418732,"velocity_rad_s":-0.0055673071183264256,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34345829486846924,"velocity_rad_s":0.1025380939245224,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01498187892138958,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00958859734237194,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998631715774536,"velocity_rad_s":0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441091418266296,"velocity_rad_s":0.0005194749683141708,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.001004305318929255,"velocity_rad_s":0.002774524502456188,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0012856220128014684,"velocity_rad_s":-0.17827291786670685,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":53.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0057897306978702545,"velocity_rad_s":0.03301258757710457,"acceleration_raw":0.0,"estimated_torque_nm":-1.2292753458023071,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03173186630010605,"velocity_rad_s":0.0903647169470787,"acceleration_raw":0.0,"estimated_torque_nm":0.8384605050086975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2816292941570282,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9838209748268127,"velocity_rad_s":-0.20248547196388245,"acceleration_raw":0.0,"estimated_torque_nm":-0.5625,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02269812300801277,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22394922375679016,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788631276832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810707,"imu":{"quaternion":[0.9908291697502136,-0.0007293744129128754,0.021680304780602455,0.1333680897951126],"gyroscope":[0.0031957929022610188,-0.008522114716470242,-0.0074568502604961395],"accelerometer":[-0.530614972114563,-0.02513911761343479,9.757569313049316],"rpy":[0.004341609310358763,0.04317091405391693,0.26769039034843445],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3447280824184418,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013788782991468906,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011838436126708984,"velocity_rad_s":0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629861056804657,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30946552753448486,"velocity_rad_s":-0.0031978508923202753,"acceleration_raw":0.0,"estimated_torque_nm":7.598719596862793,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01054567564278841,"velocity_rad_s":-0.0074442229233682156,"acceleration_raw":0.0,"estimated_torque_nm":-1.2551019191741943,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3433815836906433,"velocity_rad_s":0.11344641447067261,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01498187892138958,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009575205855071545,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599905788898468,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441913962364197,"velocity_rad_s":-0.004755257163196802,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009898794814944267,"velocity_rad_s":-0.004597208462655544,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0012186624808236957,"velocity_rad_s":-0.14056134223937988,"acceleration_raw":0.0,"estimated_torque_nm":0.22372159361839294,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005835282616317272,"velocity_rad_s":0.04371098056435585,"acceleration_raw":0.0,"estimated_torque_nm":-1.179703712463379,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.0316731221973896,"velocity_rad_s":0.08844060450792313,"acceleration_raw":0.0,"estimated_torque_nm":0.9147765636444092,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28159335255622864,"velocity_rad_s":-0.08590292930603027,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9835214018821716,"velocity_rad_s":-0.2040194571018219,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22394922375679016,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788633168992,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810708,"imu":{"quaternion":[0.9908291697502136,-0.0007293744129128754,0.021680304780602455,0.1333680897951126],"gyroscope":[0.0031957929022610188,-0.008522114716470242,-0.0074568502604961395],"accelerometer":[-0.530614972114563,-0.02513911761343479,9.757569313049316],"rpy":[0.004341609310358763,0.04317091405391693,0.26769039034843445],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344711035490036,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013814348727464676,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011838436126708984,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629878044128418,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30946552753448486,"velocity_rad_s":-0.0031904263887554407,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01054567564278841,"velocity_rad_s":-0.0037326847668737173,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34332194924354553,"velocity_rad_s":0.11999139189720154,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01498187892138958,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009561813436448574,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998972654342651,"velocity_rad_s":0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441502690315247,"velocity_rad_s":-0.0010607632575556636,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009970833780243993,"velocity_rad_s":7.3633314059406985e-06,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0011249192757532,"velocity_rad_s":-0.14570382237434387,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005858049727976322,"velocity_rad_s":0.03496116027235985,"acceleration_raw":0.0,"estimated_torque_nm":-1.179703712463379,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03162902221083641,"velocity_rad_s":0.08407393097877502,"acceleration_raw":0.0,"estimated_torque_nm":0.9147765636444092,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.281533420085907,"velocity_rad_s":-0.09050486981868744,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005093295592814684,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9833536148071289,"velocity_rad_s":-0.21168935298919678,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22394922375679016,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788635044864,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810709,"imu":{"quaternion":[0.990831196308136,-0.0007175803766585886,0.021664660423994064,0.1333560049533844],"gyroscope":[0.011717907153069973,-0.010652642697095871,-0.013848436065018177],"accelerometer":[-0.4578910768032074,0.06015431880950928,9.868001937866211],"rpy":[0.004360293038189411,0.043136805295944214,0.2676662504673004],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344668447971344,"velocity_rad_s":0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":0.3515625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013822871260344982,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011838436126708984,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629861056804657,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.309461385011673,"velocity_rad_s":-0.002129425760358572,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010552950203418732,"velocity_rad_s":-0.0037256358191370964,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34317708015441895,"velocity_rad_s":0.1025380939245224,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014956312254071236,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009535029530525208,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998887419700623,"velocity_rad_s":0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441502690315247,"velocity_rad_s":-0.0015802382258698344,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009970833780243993,"velocity_rad_s":-0.002767161000519991,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0009776083752512932,"velocity_rad_s":-0.15256047248840332,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005873211193829775,"velocity_rad_s":0.033986158668994904,"acceleration_raw":0.0,"estimated_torque_nm":-1.179703712463379,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03157017007470131,"velocity_rad_s":0.08847606927156448,"acceleration_raw":0.0,"estimated_torque_nm":0.9147765636444092,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28141358494758606,"velocity_rad_s":-0.0920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005093295592814684,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.983197808265686,"velocity_rad_s":-0.21629129350185394,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02268613874912262,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22396120429039001,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788637077568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810710,"imu":{"quaternion":[0.9908322095870972,-0.0007105093100108206,0.021657748147845268,0.13334938883781433],"gyroscope":[0.012783171609044075,-0.008522114716470242,-0.013848436065018177],"accelerometer":[-0.4183867573738098,0.02603694424033165,9.948805809020996],"rpy":[0.004372181370854378,0.04312124103307724,0.26765307784080505],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3446173071861267,"velocity_rad_s":0.03708824887871742,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01383991539478302,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011878611519932747,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6298865675926208,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30947381258010864,"velocity_rad_s":-0.0026580700650811195,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010545620694756508,"velocity_rad_s":-0.0028012755792587996,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34308332204818726,"velocity_rad_s":0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01492222398519516,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009521638043224812,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998887419700623,"velocity_rad_s":0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29441922903060913,"velocity_rad_s":-0.0005267460946924984,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010043629445135593,"velocity_rad_s":-0.0009223870001733303,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.000897257006727159,"velocity_rad_s":-0.14227551221847534,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005941529758274555,"velocity_rad_s":0.04468382149934769,"acceleration_raw":0.0,"estimated_torque_nm":-1.2292753458023071,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03146732598543167,"velocity_rad_s":0.08780868351459503,"acceleration_raw":0.0,"estimated_torque_nm":0.8384605050086975,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28134167194366455,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9830420017242432,"velocity_rad_s":-0.22242721915245056,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022674154490232468,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22394922375679016,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021979069337248802,"velocity_rad_s":-0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788638956512,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810711,"imu":{"quaternion":[0.9908322095870972,-0.0007105093100108206,0.021657748147845268,0.13334938883781433],"gyroscope":[0.012783171609044075,-0.008522114716470242,-0.013848436065018177],"accelerometer":[-0.4183867573738098,0.02603694424033165,9.948805809020996],"rpy":[0.004372181370854378,0.04312124103307724,0.26765307784080505],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34460878372192383,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013856959529221058,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011892003007233143,"velocity_rad_s":0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6298695802688599,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094613552093506,"velocity_rad_s":1.1136643479403574e-05,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010567443445324898,"velocity_rad_s":0.0055673071183264256,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34300661087036133,"velocity_rad_s":0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":4.5703125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014930746518075466,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009481461718678474,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998887419700623,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.294423371553421,"velocity_rad_s":-0.0037381204310804605,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010116243502125144,"velocity_rad_s":0.0065082525834441185,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0008169056382030249,"velocity_rad_s":-0.126848042011261,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005979486741125584,"velocity_rad_s":0.04468166083097458,"acceleration_raw":0.0,"estimated_torque_nm":-1.2788469791412354,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03141346573829651,"velocity_rad_s":0.091578908264637,"acceleration_raw":0.0,"estimated_torque_nm":0.7621443867683411,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2812817394733429,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040673941373825,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005093295592814684,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9827064871788025,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022662170231342316,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22396120429039001,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788640902880,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810712,"imu":{"quaternion":[0.9908329248428345,-0.0007073822198435664,0.021648641675710678,0.13334554433822632],"gyroscope":[0.004261057358235121,-0.011717907153069973,-0.008522114716470242],"accelerometer":[-0.4183867573738098,0.02603694424033165,9.948805809020996],"rpy":[0.0043757823295891285,0.04310236871242523,0.2676452696323395],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445832133293152,"velocity_rad_s":0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013882526196539402,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.7578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01191878691315651,"velocity_rad_s":0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629878044128418,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30946969985961914,"velocity_rad_s":0.0021145769860595465,"acceleration_raw":0.0,"estimated_torque_nm":7.417993545532227,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010538401082158089,"velocity_rad_s":-0.0036974404938519,"acceleration_raw":0.0,"estimated_torque_nm":-1.2547404766082764,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3429214060306549,"velocity_rad_s":0.11562806367874146,"acceleration_raw":0.0,"estimated_torque_nm":4.482421875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014905179850757122,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998802185058594,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944274842739105,"velocity_rad_s":-0.005823291372507811,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010044204536825418,"velocity_rad_s":-0.0027377079240977764,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0007633380591869354,"velocity_rad_s":-0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006032636389136314,"velocity_rad_s":0.04662591218948364,"acceleration_raw":0.0,"estimated_torque_nm":-1.2298316955566406,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.031359657645225525,"velocity_rad_s":0.09282855689525604,"acceleration_raw":0.0,"estimated_torque_nm":0.6858847737312317,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2812338173389435,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9825147390365601,"velocity_rad_s":-0.23009712994098663,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022662170231342316,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22396120429039001,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8254973888397217,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788645680832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810713,"imu":{"quaternion":[0.9908344745635986,-0.0007061825017444789,0.021617164835333824,0.13333959877490997],"gyroscope":[-0.004261057358235121,-0.02876213565468788,-0.0063915858045220375],"accelerometer":[-0.4049193561077118,-0.08619125932455063,9.94970417022705],"rpy":[0.0043694875203073025,0.043039675801992416,0.2676328718662262],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34455764293670654,"velocity_rad_s":0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013848437927663326,"velocity_rad_s":0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.01191878691315651,"velocity_rad_s":0.06685234606266022,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6298950910568237,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30946552753448486,"velocity_rad_s":-0.0010721372673287988,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01054567564278841,"velocity_rad_s":-0.005574355833232403,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34281912446022034,"velocity_rad_s":0.12980887293815613,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014888135716319084,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009454678744077682,"velocity_rad_s":0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998972654342651,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29442334175109863,"velocity_rad_s":-0.004250324331223965,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0009971590479835868,"velocity_rad_s":0.001881590811535716,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0006428110064007342,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00604779738932848,"velocity_rad_s":0.05148796737194061,"acceleration_raw":0.0,"estimated_torque_nm":-1.2298316955566406,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.031300805509090424,"velocity_rad_s":0.09343919157981873,"acceleration_raw":0.0,"estimated_torque_nm":0.6858847737312317,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2811738848686218,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9823589324951172,"velocity_rad_s":-0.2346990704536438,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022650185972452164,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22397318482398987,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788647971680,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810714,"imu":{"quaternion":[0.9908344745635986,-0.0007061825017444789,0.021617164835333824,0.13333959877490997],"gyroscope":[-0.004261057358235121,-0.02876213565468788,-0.0063915858045220375],"accelerometer":[-0.4049193561077118,-0.08619125932455063,9.94970417022705],"rpy":[0.0043694875203073025,0.043039675801992416,0.2676328718662262],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3445405960083008,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013925136998295784,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011945570819079876,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299036145210266,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30947795510292053,"velocity_rad_s":-0.009560142643749714,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010552839376032352,"velocity_rad_s":-0.005630746483802795,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34261462092399597,"velocity_rad_s":0.15271632373332977,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014888135716319084,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009427894838154316,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998802185058594,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944275438785553,"velocity_rad_s":-0.0032186454627662897,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010188857559114695,"velocity_rad_s":0.009282777085900307,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0005624596378766,"velocity_rad_s":-0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006085721310228109,"velocity_rad_s":0.037876855581998825,"acceleration_raw":0.0,"estimated_torque_nm":-1.2298344373703003,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03118799440562725,"velocity_rad_s":0.08981998264789581,"acceleration_raw":0.0,"estimated_torque_nm":0.6851323246955872,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28106603026390076,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20405539870262146,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9822031259536743,"velocity_rad_s":-0.22549518942832947,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02263820171356201,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.23125000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007370298728346825,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22397318482398987,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788650104832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810715,"imu":{"quaternion":[0.9908353686332703,-0.0007059412309899926,0.021595679223537445,0.1333363950252533],"gyroscope":[-0.004261057358235121,-0.035153720527887344,-0.0074568502604961395],"accelerometer":[-0.4049193561077118,0.03411737456917763,9.923666954040527],"rpy":[0.004364083521068096,0.042997024953365326,0.2676260471343994],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34451502561569214,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013933658599853516,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011972354725003242,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299036145210266,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30946967005729675,"velocity_rad_s":-0.006909497082233429,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01055289525538683,"velocity_rad_s":-0.006541009526699781,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34249529242515564,"velocity_rad_s":0.1330813616514206,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014888135716319084,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00940111093223095,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998716950416565,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.294423371553421,"velocity_rad_s":-7.271102276718011e-06,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010116243502125144,"velocity_rad_s":0.001852137385867536,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.000522283953614533,"velocity_rad_s":-0.10970640927553177,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006123678758740425,"velocity_rad_s":0.0456567220389843,"acceleration_raw":0.0,"estimated_torque_nm":-1.2298344373703003,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.031134070828557014,"velocity_rad_s":0.08979161083698273,"acceleration_raw":0.0,"estimated_torque_nm":0.6851323246955872,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28101810812950134,"velocity_rad_s":-0.0951068103313446,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20405539870262146,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.25,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9820473194122314,"velocity_rad_s":-0.2377670258283615,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022614233195781708,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22398516535758972,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01396162249147892,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788652118112,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810716,"imu":{"quaternion":[0.9908366799354553,-0.0007075279136188328,0.021574432030320168,0.1333300620317459],"gyroscope":[-0.0074568502604961395,-0.034088458865880966,-0.013848436065018177],"accelerometer":[-0.3672106862068176,-0.05835866555571556,9.894038200378418],"rpy":[0.004354981239885092,0.04295535758137703,0.26761287450790405],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344523549079895,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013933658599853516,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.011985746212303638,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299206614494324,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30946969985961914,"velocity_rad_s":-0.005323564633727074,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010538401082158089,"velocity_rad_s":-0.009314090013504028,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3423845171928406,"velocity_rad_s":0.1494438350200653,"acceleration_raw":0.0,"estimated_torque_nm":4.39453125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014871091581881046,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009387718513607979,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998716950416565,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944276034832001,"velocity_rad_s":-4.3626612750813365e-05,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010333691025152802,"velocity_rad_s":0.011112824082374573,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.0004821082402486354,"velocity_rad_s":-0.09256478399038315,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006138837896287441,"velocity_rad_s":0.03884618729352951,"acceleration_raw":0.0,"estimated_torque_nm":-1.2298344373703003,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.03106532245874405,"velocity_rad_s":0.09547813981771469,"acceleration_raw":0.0,"estimated_torque_nm":0.6851323246955872,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28093421459198,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20407937467098236,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9817597270011902,"velocity_rad_s":-0.2316311150789261,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022614233195781708,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22398516535758972,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788654228192,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810717,"imu":{"quaternion":[0.9908403754234314,-0.0007106342818588018,0.021527567878365517,0.1333099901676178],"gyroscope":[-0.0063915858045220375,-0.04048004373908043,-0.023435814306139946],"accelerometer":[-0.4129997789859772,-0.12928688526153564,9.985616683959961],"rpy":[0.004335424397140741,0.042863357812166214,0.26757144927978516],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34451502561569214,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013950702734291553,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012012530118227005,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.7897727489471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629946231842041,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094821572303772,"velocity_rad_s":-0.008532552048563957,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010531053878366947,"velocity_rad_s":-0.02232562005519867,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3422737121582031,"velocity_rad_s":0.16035212576389313,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014871091581881046,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009374327026307583,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998716950416565,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-7.734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944234311580658,"velocity_rad_s":0.001068034442141652,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010261076968163252,"velocity_rad_s":-0.0018595006549730897,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00036158118746243417,"velocity_rad_s":-0.08399397134780884,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00616158964112401,"velocity_rad_s":0.02231084369122982,"acceleration_raw":0.0,"estimated_torque_nm":-1.2298344373703003,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.030991684645414352,"velocity_rad_s":0.10120014101266861,"acceleration_raw":0.0,"estimated_torque_nm":0.6851323246955872,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2808742821216583,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":1.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20405539870262146,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9816039204597473,"velocity_rad_s":-0.22396120429039001,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022578280419111252,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22402112185955048,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788656234720,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810718,"imu":{"quaternion":[0.9908403754234314,-0.0007106342818588018,0.021527567878365517,0.1333099901676178],"gyroscope":[-0.0063915858045220375,-0.04048004373908043,-0.023435814306139946],"accelerometer":[-0.4129997789859772,-0.12928688526153564,9.985616683959961],"rpy":[0.004335424397140741,0.042863357812166214,0.26757144927978516],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34450650215148926,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01395922526717186,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012039314024150372,"velocity_rad_s":0.05828152969479561,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299206614494324,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094862103462219,"velocity_rad_s":-0.010624855756759644,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01056727860122919,"velocity_rad_s":-0.007493565324693918,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.34206917881965637,"velocity_rad_s":0.14180800318717957,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014879613183438778,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00933415163308382,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998716950416565,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944316565990448,"velocity_rad_s":-0.0021142554469406605,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.001011681859381497,"velocity_rad_s":-0.0018374106148257852,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00030801360844634473,"velocity_rad_s":-0.09599311649799347,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0061539351008832455,"velocity_rad_s":0.023280175402760506,"acceleration_raw":0.0,"estimated_torque_nm":-1.2298344373703003,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.030888449400663376,"velocity_rad_s":0.10685830563306808,"acceleration_raw":0.0,"estimated_torque_nm":0.6851323246955872,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2807304859161377,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040673941373825,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9814481139183044,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022554311901330948,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22403310239315033,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788658866048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810719,"imu":{"quaternion":[0.9908422827720642,-0.000709463725797832,0.021498996764421463,0.1332998424768448],"gyroscope":[-0.0031957929022610188,-0.049002159386873245,-0.021305285394191742],"accelerometer":[-0.29718029499053955,-0.0520738884806633,9.894936561584473],"rpy":[0.004329672548919916,0.04280644655227661,0.267550528049469],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.013976269401609898,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012039314024150372,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299206614494324,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094945251941681,"velocity_rad_s":-0.015408639796078205,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01055271178483963,"velocity_rad_s":-0.0121647072955966,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3419584035873413,"velocity_rad_s":0.1636246144771576,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01486256904900074,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":1.40625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009307367727160454,"velocity_rad_s":0.05142487958073616,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998716950416565,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944276034832001,"velocity_rad_s":0.0021069843787699938,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010333691025152802,"velocity_rad_s":0.0036895480006933212,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00026783792418427765,"velocity_rad_s":-0.09427894651889801,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006260229274630547,"velocity_rad_s":0.027169404551386833,"acceleration_raw":0.0,"estimated_torque_nm":-1.2298344373703003,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.030761053785681725,"velocity_rad_s":0.10810227692127228,"acceleration_raw":0.0,"estimated_torque_nm":0.6851323246955872,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28067055344581604,"velocity_rad_s":-0.10584467649459839,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040673941373825,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.981316328048706,"velocity_rad_s":-0.22702915966510773,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022518359124660492,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22403310239315033,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255093693733215,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788659561248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810720,"imu":{"quaternion":[0.9908444285392761,-0.000708343752194196,0.021466517820954323,0.13328975439071655],"gyroscope":[-0.004261057358235121,-0.056459009647369385,-0.021305285394191742],"accelerometer":[-0.2684498727321625,-0.05027823522686958,9.979331970214844],"rpy":[0.0043227775022387505,0.0427418015897274,0.2675297260284424],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":0.439453125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014001836068928242,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012039314024150372,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299291849136353,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3094944953918457,"velocity_rad_s":-0.00955271814018488,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010567205026745796,"velocity_rad_s":-0.0019192087929695845,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3418561518192291,"velocity_rad_s":0.15598881244659424,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014854047447443008,"velocity_rad_s":-0.02617994137108326,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009293975308537483,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998631715774536,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-7.91015625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2944317162036896,"velocity_rad_s":-0.0026264593470841646,"acceleration_raw":0.0,"estimated_torque_nm":6.242629528045654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010261472780257463,"velocity_rad_s":-0.006464072503149509,"acceleration_raw":0.0,"estimated_torque_nm":0.9044930934906006,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00022766222537029535,"velocity_rad_s":-0.08913645893335342,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0062981764785945415,"velocity_rad_s":0.03397294878959656,"acceleration_raw":0.0,"estimated_torque_nm":-1.230390191078186,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.030687471851706505,"velocity_rad_s":0.11499731987714767,"acceleration_raw":0.0,"estimated_torque_nm":0.5327285528182983,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.28059864044189453,"velocity_rad_s":-0.11504856497049332,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20405539870262146,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.875,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.98102867603302,"velocity_rad_s":-0.2178252786397934,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022482406347990036,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22404509782791138,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05878262594342232,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788661574592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810721,"imu":{"quaternion":[0.9908463954925537,-0.0007070217980071902,0.021431729197502136,0.1332806795835495],"gyroscope":[-0.004261057358235121,-0.06072006747126579,-0.019174758344888687],"accelerometer":[-0.2172738015651703,-0.1553238332271576,10.104129791259766],"rpy":[0.0043157124891877174,0.04267251864075661,0.26751086115837097],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.344480961561203,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":0.52734375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014001836068928242,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629946231842041,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-8.701171875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30950281023979187,"velocity_rad_s":-0.009556430391967297,"acceleration_raw":0.0,"estimated_torque_nm":7.508699893951416,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010552656836807728,"velocity_rad_s":-0.0037749779876321554,"acceleration_raw":0.0,"estimated_torque_nm":-1.3065844774246216,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3417368233203888,"velocity_rad_s":0.17889626324176788,"acceleration_raw":0.0,"estimated_torque_nm":4.306640625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014854047447443008,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.318359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009293975308537483,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-1.0626776218414307,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5998461246490479,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-7.822265625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29443588852882385,"velocity_rad_s":-0.0005485593574121594,"acceleration_raw":0.0,"estimated_torque_nm":6.152604579925537,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0010334086837247014,"velocity_rad_s":0.004634025041013956,"acceleration_raw":0.0,"estimated_torque_nm":0.9559035301208496,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":0.00016070275160018355,"velocity_rad_s":-0.07028067111968994,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006320922635495663,"velocity_rad_s":0.04077788442373276,"acceleration_raw":0.0,"estimated_torque_nm":-1.2799614667892456,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.030604006722569466,"velocity_rad_s":0.1193760484457016,"acceleration_raw":0.0,"estimated_torque_nm":0.456499308347702,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2805507183074951,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20405539870262146,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.980884850025177,"velocity_rad_s":-0.21935926377773285,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.022410500794649124,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007358314469456673,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22405707836151123,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03658783808350563,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[47,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788663558048,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810742,"imu":{"quaternion":[0.9908626675605774,-0.0008164244936779141,0.020706884562969208,0.13327381014823914],"gyroscope":[-0.013848436065018177,-0.034088458865880966,0.0074568502604961395],"accelerometer":[-0.8681973814964294,0.004489128012210131,9.580697059631348],"rpy":[0.00390477548353374,0.04126468300819397,0.26748138666152954],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3431088924407959,"velocity_rad_s":0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014240454882383347,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012200016528367996,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.63009113073349,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30979734659194946,"velocity_rad_s":-0.024961356073617935,"acceleration_raw":0.0,"estimated_torque_nm":7.147934913635254,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010427487082779408,"velocity_rad_s":-0.014083915390074253,"acceleration_raw":0.0,"estimated_torque_nm":-1.409187912940979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33936768770217896,"velocity_rad_s":0.07308566570281982,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014683605171740055,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5996671915054321,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2945275604724884,"velocity_rad_s":-0.004798883572220802,"acceleration_raw":0.0,"estimated_torque_nm":5.791067123413086,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0011642837198451161,"velocity_rad_s":0.0065156156197190285,"acceleration_raw":0.0,"estimated_torque_nm":0.954484224319458,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.000709770480170846,"velocity_rad_s":-0.06856650859117508,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007094681728631258,"velocity_rad_s":0.0145413214340806,"acceleration_raw":0.0,"estimated_torque_nm":-1.179978370666504,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028771454468369484,"velocity_rad_s":0.06959015876054764,"acceleration_raw":0.0,"estimated_torque_nm":0.9161224961280823,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27864521741867065,"velocity_rad_s":-0.11044662445783615,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20407937467098236,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9782723188400269,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021164141595363617,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2248120754957199,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17851701378822327,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788665519104,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810743,"imu":{"quaternion":[0.9908621311187744,-0.000819719978608191,0.020692018792033195,0.13328012824058533],"gyroscope":[-0.008522114716470242,-0.02876213565468788,0.011717907153069973],"accelerometer":[-0.9543886780738831,-0.03232172131538391,9.51425838470459],"rpy":[0.0038945304695516825,0.041236065328121185,0.2674938142299652],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3430662751197815,"velocity_rad_s":0.07853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014248977415263653,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012200016528367996,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.6779119968414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6300826072692871,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30980151891708374,"velocity_rad_s":-0.01752321608364582,"acceleration_raw":0.0,"estimated_torque_nm":7.147934913635254,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01040568295866251,"velocity_rad_s":-0.008467267267405987,"acceleration_raw":0.0,"estimated_torque_nm":-1.409187912940979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3392994999885559,"velocity_rad_s":0.08617563545703888,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014666561037302017,"velocity_rad_s":-0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5996416211128235,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-7.998046875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2945275604724884,"velocity_rad_s":-0.0016020515467971563,"acceleration_raw":0.0,"estimated_torque_nm":5.791067123413086,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0011642837198451161,"velocity_rad_s":0.0027892510406672955,"acceleration_raw":0.0,"estimated_torque_nm":0.954484224319458,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0007231623749248683,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00707187969237566,"velocity_rad_s":0.0009330107714049518,"acceleration_raw":0.0,"estimated_torque_nm":-1.179978370666504,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028746863827109337,"velocity_rad_s":0.06462068110704422,"acceleration_raw":0.0,"estimated_torque_nm":0.9161224961280823,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2785613238811493,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.2040673941373825,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9781404733657837,"velocity_rad_s":-0.10431069880723953,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02112818881869316,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2248360514640808,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05878262594342232,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788667117504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810744,"imu":{"quaternion":[0.9908614754676819,-0.0008229000959545374,0.02067631669342518,0.1332869678735733],"gyroscope":[-0.008522114716470242,-0.030892664566636086,0.012783171609044075],"accelerometer":[-0.9929951429367065,-0.07182604819536209,9.533112525939941],"rpy":[0.003884313628077507,0.0412057563662529,0.2675072252750397],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3430151343345642,"velocity_rad_s":0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01426602154970169,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012200016528367996,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.733842372894287,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6300740838050842,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-9.580078125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30983462929725647,"velocity_rad_s":-0.022266164422035217,"acceleration_raw":0.0,"estimated_torque_nm":7.147934913635254,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010434468276798725,"velocity_rad_s":0.007275050040334463,"acceleration_raw":0.0,"estimated_torque_nm":-1.409187912940979,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3392568826675415,"velocity_rad_s":0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":4.130859375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014658038504421711,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":1.494140625,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5996416211128235,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2945316731929779,"velocity_rad_s":-0.003196832025423646,"acceleration_raw":0.0,"estimated_torque_nm":5.791067123413086,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0011570798233151436,"velocity_rad_s":0.0037263648118823767,"acceleration_raw":0.0,"estimated_torque_nm":0.954484224319458,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0007499461644329131,"velocity_rad_s":-0.0497107207775116,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0070566823706030846,"velocity_rad_s":-0.01169962715357542,"acceleration_raw":0.0,"estimated_torque_nm":-1.1309525966644287,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028737002983689308,"velocity_rad_s":0.0540008619427681,"acceleration_raw":0.0,"estimated_torque_nm":0.8397490382194519,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27850142121315,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20407937467098236,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.978116512298584,"velocity_rad_s":-0.08283496648073196,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021044299006462097,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22490794956684113,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17851701378822327,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788669421760,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810745,"imu":{"quaternion":[0.9908611178398132,-0.000827042618766427,0.020660093054175377,0.1332928091287613],"gyroscope":[-0.010652642697095871,-0.03195792809128761,0.010652642697095871],"accelerometer":[-0.9310451745986938,0.008978256024420261,9.653421401977539],"rpy":[0.0038720055017620325,0.04117467626929283,0.26751869916915894],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3429214060306549,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01429158728569746,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012213408946990967,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.6219815015792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6300740838050842,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-10.1953125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098553717136383,"velocity_rad_s":-0.025992659851908684,"acceleration_raw":0.0,"estimated_torque_nm":6.8771891593933105,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010412589646875858,"velocity_rad_s":0.0007551883463747799,"acceleration_raw":0.0,"estimated_torque_nm":-1.4603089094161987,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3391120135784149,"velocity_rad_s":0.10144726186990738,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014649515971541405,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009240408428013325,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5996245741844177,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29453590512275696,"velocity_rad_s":-0.0026700859889388084,"acceleration_raw":0.0,"estimated_torque_nm":5.248761177062988,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.001178806647658348,"velocity_rad_s":0.004648752044886351,"acceleration_raw":0.0,"estimated_torque_nm":0.9523552060127258,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0007901218486949801,"velocity_rad_s":-0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007033863104879856,"velocity_rad_s":-0.010728527791798115,"acceleration_raw":0.0,"estimated_torque_nm":-1.0312210321426392,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028683001175522804,"velocity_rad_s":0.055879559367895126,"acceleration_raw":0.0,"estimated_torque_nm":1.1454224586486816,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2783815562725067,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9780685901641846,"velocity_rad_s":-0.0782330259680748,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02099636197090149,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22495588660240173,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788672596736,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810746,"imu":{"quaternion":[0.9908605217933655,-0.0008346696849912405,0.02064243145287037,0.13329924643039703],"gyroscope":[-0.01810949295759201,-0.034088458865880966,0.011717907153069973],"accelerometer":[-0.9310451745986938,0.008978256024420261,9.653421401977539],"rpy":[0.003852427937090397,0.04114166647195816,0.26753106713294983],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3428873121738434,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014300109818577766,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6300740838050842,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3098844289779663,"velocity_rad_s":-0.03555651381611824,"acceleration_raw":0.0,"estimated_torque_nm":6.696463584899902,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01040515024214983,"velocity_rad_s":-0.006731328088790178,"acceleration_raw":0.0,"estimated_torque_nm":-1.4599473476409912,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3390693962574005,"velocity_rad_s":0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014632471837103367,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5996245741844177,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2945649325847626,"velocity_rad_s":-0.012216956354677677,"acceleration_raw":0.0,"estimated_torque_nm":4.977248668670654,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0011862405808642507,"velocity_rad_s":0.004715021699666977,"acceleration_raw":0.0,"estimated_torque_nm":0.8995254635810852,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0008169056382030249,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007102190982550383,"velocity_rad_s":0.017466792836785316,"acceleration_raw":0.0,"estimated_torque_nm":-0.982195258140564,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028629332780838013,"velocity_rad_s":0.055148810148239136,"acceleration_raw":0.0,"estimated_torque_nm":1.0690490007400513,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2783096730709076,"velocity_rad_s":-0.10737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9780446290969849,"velocity_rad_s":-0.07209710031747818,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14577612280845642,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02094842493534088,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2249918431043625,"velocity_rad_s":0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03652791678905487,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788673246496,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810747,"imu":{"quaternion":[0.9908597469329834,-0.0008448041044175625,0.020624492317438126,0.13330736756324768],"gyroscope":[-0.023435814306139946,-0.034088458865880966,0.014913700520992279],"accelerometer":[-0.905906081199646,0.03860650211572647,9.781810760498047],"rpy":[0.003827872220426798,0.04110877588391304,0.26754680275917053],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34285321831703186,"velocity_rad_s":0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014300109818577766,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6300229430198669,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.30993008613586426,"velocity_rad_s":-0.04672115296125412,"acceleration_raw":0.0,"estimated_torque_nm":6.696463584899902,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010368594899773598,"velocity_rad_s":-0.018867839127779007,"acceleration_raw":0.0,"estimated_torque_nm":-1.4599473476409912,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33900123834609985,"velocity_rad_s":0.08617563545703888,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014640994369983673,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5996160507202148,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2946231961250305,"velocity_rad_s":-0.0308639295399189,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0012445228639990091,"velocity_rad_s":0.026143459603190422,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0008436894277110696,"velocity_rad_s":-0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007178122643381357,"velocity_rad_s":0.04857921972870827,"acceleration_raw":0.0,"estimated_torque_nm":-1.1303925514221191,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028590397909283638,"velocity_rad_s":0.053779955953359604,"acceleration_raw":0.0,"estimated_torque_nm":0.9925557971000671,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27824974060058594,"velocity_rad_s":-0.11198060214519501,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9779607057571411,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020924456417560577,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2250158190727234,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788676440320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810748,"imu":{"quaternion":[0.9908588528633118,-0.0008566485485062003,0.02060861513018608,0.13331715762615204],"gyroscope":[-0.026631608605384827,-0.029827401041984558,0.01810949295759201],"accelerometer":[-0.9777321219444275,0.08259996026754379,9.652523040771484],"rpy":[0.003800543025135994,0.04108042269945145,0.26756587624549866],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34281060099601746,"velocity_rad_s":0.07090400159358978,"acceleration_raw":0.0,"estimated_torque_nm":0.087890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014300109818577766,"velocity_rad_s":0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6300058960914612,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-10.283203125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3100380301475525,"velocity_rad_s":-0.056839633733034134,"acceleration_raw":0.0,"estimated_torque_nm":6.606443881988525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01026640459895134,"velocity_rad_s":-0.03842037543654442,"acceleration_raw":0.0,"estimated_torque_nm":-1.5114299058914185,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3389415740966797,"velocity_rad_s":0.07744898647069931,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014623950235545635,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.599607527256012,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2946690320968628,"velocity_rad_s":-0.034638404846191406,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.001309951301664114,"velocity_rad_s":0.04191239923238754,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0008838651119731367,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":53.0,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007223666645586491,"velocity_rad_s":0.05343394726514816,"acceleration_raw":0.0,"estimated_torque_nm":-1.1303925514221191,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028541548177599907,"velocity_rad_s":0.06442827731370926,"acceleration_raw":0.0,"estimated_torque_nm":0.9925557971000671,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.278129905462265,"velocity_rad_s":-0.1288543939590454,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9778768420219421,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02082858420908451,"velocity_rad_s":-0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2250397801399231,"velocity_rad_s":0.04601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788677100096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810749,"imu":{"quaternion":[0.9908576607704163,-0.0008676300058141351,0.02059510163962841,0.13332794606685638],"gyroscope":[-0.024501079693436623,-0.02556634321808815,0.020240021869540215],"accelerometer":[-0.9552865028381348,0.042197804898023605,9.639056205749512],"rpy":[0.0037755996454507113,0.041056521236896515,0.26758700609207153],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3427509665489197,"velocity_rad_s":0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014317153953015804,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299888491630554,"velocity_rad_s":-0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3101044297218323,"velocity_rad_s":-0.0642777755856514,"acceleration_raw":0.0,"estimated_torque_nm":6.606443881988525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010222447104752064,"velocity_rad_s":-0.04403702914714813,"acceleration_raw":0.0,"estimated_torque_nm":-1.5114299058914185,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3387967050075531,"velocity_rad_s":0.11235557496547699,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014623950235545635,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995904803276062,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29470235109329224,"velocity_rad_s":-0.03999311849474907,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0013535955222323537,"velocity_rad_s":0.05491417646408081,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0009374326909892261,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007246432825922966,"velocity_rad_s":0.04857540875673294,"acceleration_raw":0.0,"estimated_torque_nm":-1.1794183254241943,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02850731834769249,"velocity_rad_s":0.06005415320396423,"acceleration_raw":0.0,"estimated_torque_nm":1.0689293146133423,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2779621183872223,"velocity_rad_s":-0.11658254265785217,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9778648614883423,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020792631432414055,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2251116931438446,"velocity_rad_s":0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788679395360,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810750,"imu":{"quaternion":[0.9908563494682312,-0.0008778433548286557,0.020583925768733025,0.13333922624588013],"gyroscope":[-0.02237055078148842,-0.021305285394191742,0.021305285394191742],"accelerometer":[-0.9516952037811279,-0.030526071786880493,9.797073364257812],"rpy":[0.0037528236862272024,0.041037045419216156,0.26760920882225037],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3426998257637024,"velocity_rad_s":0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01432567648589611,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299888491630554,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31013351678848267,"velocity_rad_s":-0.058991335332393646,"acceleration_raw":0.0,"estimated_torque_nm":6.606443881988525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010186037980020046,"velocity_rad_s":-0.053280629217624664,"acceleration_raw":0.0,"estimated_torque_nm":-1.5114299058914185,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3387455642223358,"velocity_rad_s":0.10471976548433304,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014632471837103367,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995904803276062,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2947315573692322,"velocity_rad_s":-0.0410684272646904,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.001404443639330566,"velocity_rad_s":0.05862581729888916,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0009374326909892261,"velocity_rad_s":-0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007307162042707205,"velocity_rad_s":0.042742736637592316,"acceleration_raw":0.0,"estimated_torque_nm":-1.1303925514221191,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028448721393942833,"velocity_rad_s":0.058820690959692,"acceleration_raw":0.0,"estimated_torque_nm":0.9925557971000671,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2778902053833008,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977828860282898,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020744694396853447,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22514763474464417,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788681338400,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810751,"imu":{"quaternion":[0.9908550977706909,-0.0008855060441419482,0.020573701709508896,0.1333504617214203],"gyroscope":[-0.017044229432940483,-0.020240021869540215,0.021305285394191742],"accelerometer":[-0.9516952037811279,-0.030526071786880493,9.797073364257812],"rpy":[0.0037353585939854383,0.0410187803208828,0.2676314413547516],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3426486849784851,"velocity_rad_s":0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014334198087453842,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299803256988525,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31018751859664917,"velocity_rad_s":-0.06378254294395447,"acceleration_raw":0.0,"estimated_torque_nm":6.606443881988525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010120421648025513,"velocity_rad_s":-0.06166330724954605,"acceleration_raw":0.0,"estimated_torque_nm":-1.5114299058914185,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3386603593826294,"velocity_rad_s":0.12435471266508102,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014606906101107597,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995819568634033,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.294764906167984,"velocity_rad_s":-0.04323358088731766,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0014625531621277332,"velocity_rad_s":0.06975336372852325,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0009910003282129765,"velocity_rad_s":-0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007307138293981552,"velocity_rad_s":0.027188429608941078,"acceleration_raw":0.0,"estimated_torque_nm":-1.1303925514221191,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028409507125616074,"velocity_rad_s":0.05636801943182945,"acceleration_raw":0.0,"estimated_torque_nm":0.9925557971000671,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2778303027153015,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20411533117294312,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777689576148987,"velocity_rad_s":-0.0475534051656723,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020744694396853447,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.1875,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22518359124660492,"velocity_rad_s":0.055223312228918076,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014045512303709984,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788684510592,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810752,"imu":{"quaternion":[0.9908550977706909,-0.0008855060441419482,0.020573701709508896,0.1333504617214203],"gyroscope":[-0.017044229432940483,-0.020240021869540215,0.021305285394191742],"accelerometer":[-0.9516952037811279,-0.030526071786880493,9.797073364257812],"rpy":[0.0037353585939854383,0.0410187803208828,0.2676314413547516],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34258905053138733,"velocity_rad_s":0.08290314674377441,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01435124222189188,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.5101207494735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299803256988525,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102663457393646,"velocity_rad_s":-0.06058469042181969,"acceleration_raw":0.0,"estimated_torque_nm":6.606443881988525,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010083664208650589,"velocity_rad_s":-0.0542190857231617,"acceleration_raw":0.0,"estimated_torque_nm":-1.5114299058914185,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33859217166900635,"velocity_rad_s":0.11562806367874146,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014623950235545635,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009280583821237087,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995904803276062,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.349609375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2948233187198639,"velocity_rad_s":-0.04431615397334099,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0015642313519492745,"velocity_rad_s":0.0753171369433403,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001004392164759338,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007284330669790506,"velocity_rad_s":0.015522315166890621,"acceleration_raw":0.0,"estimated_torque_nm":-1.0808067321777344,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028375111520290375,"velocity_rad_s":0.05515593662858009,"acceleration_raw":0.0,"estimated_torque_nm":1.0689891576766968,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27777037024497986,"velocity_rad_s":-0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20411533117294312,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005093295592814684,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777210354804993,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020684773102402687,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22521954774856567,"velocity_rad_s":0.061359234154224396,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014033528044819832,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788685152512,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810753,"imu":{"quaternion":[0.9908528327941895,-0.0008900683606043458,0.020551025867462158,0.13336990773677826],"gyroscope":[-0.0031957929022610188,-0.026631608605384827,0.01810949295759201],"accelerometer":[-0.9777321219444275,-0.03950432687997818,9.659706115722656],"rpy":[0.00372105510905385,0.04097496718168259,0.2676701545715332],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3425549566745758,"velocity_rad_s":0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014359764754772186,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299632787704468,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3102911412715912,"velocity_rad_s":-0.053367387503385544,"acceleration_raw":0.0,"estimated_torque_nm":6.554025650024414,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010054491460323334,"velocity_rad_s":-0.049540527164936066,"acceleration_raw":0.0,"estimated_torque_nm":-1.4596624374389648,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33845582604408264,"velocity_rad_s":0.09381145238876343,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014606906101107597,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009240408428013325,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995819568634033,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-8.26171875,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29485246539115906,"velocity_rad_s":-0.04959816113114357,"acceleration_raw":0.0,"estimated_torque_nm":4.79647970199585,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0016006141668185592,"velocity_rad_s":0.06979754567146301,"acceleration_raw":0.0,"estimated_torque_nm":0.8988158106803894,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001044567907229066,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007291917223483324,"velocity_rad_s":0.01261058822274208,"acceleration_raw":0.0,"estimated_torque_nm":-1.0312256813049316,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028360426425933838,"velocity_rad_s":0.04831983521580696,"acceleration_raw":0.0,"estimated_torque_nm":1.1441410779953003,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27760258316993713,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9776970744132996,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020660804584622383,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.225291445851326,"velocity_rad_s":0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0625,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788687424896,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810754,"imu":{"quaternion":[0.9908518195152283,-0.0008881466928869486,0.02053707465529442,0.1333797723054886],"gyroscope":[0.0010652643395587802,-0.030892664566636086,0.019174758344888687],"accelerometer":[-1.1150994300842285,0.0520738884806633,9.459490776062012],"rpy":[0.003721544984728098,0.040946755558252335,0.267689973115921],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.342427134513855,"velocity_rad_s":0.08944813162088394,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01435124222189188,"velocity_rad_s":0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299718022346497,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-10.546875,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31032827496528625,"velocity_rad_s":-0.05176472291350365,"acceleration_raw":0.0,"estimated_torque_nm":6.64526891708374,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010032479651272297,"velocity_rad_s":-0.039323024451732635,"acceleration_raw":0.0,"estimated_torque_nm":-1.511507511138916,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3383791148662567,"velocity_rad_s":0.0970839411020279,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014598383568227291,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995734333992004,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29487332701683044,"velocity_rad_s":-0.046942614018917084,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0016369393561035395,"velocity_rad_s":0.06885306537151337,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001044567907229066,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007284289691597223,"velocity_rad_s":-0.002943018451333046,"acceleration_raw":0.0,"estimated_torque_nm":-1.0312256813049316,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028306419029831886,"velocity_rad_s":0.04460805281996727,"acceleration_raw":0.0,"estimated_torque_nm":1.1441410779953003,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27751868963241577,"velocity_rad_s":-0.09664079546928406,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9776491522789001,"velocity_rad_s":-0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020660804584622383,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22532740235328674,"velocity_rad_s":0.0644271969795227,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03653990104794502,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":53.0,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01402154378592968,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788689058720,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810755,"imu":{"quaternion":[0.9908508658409119,-0.0008875177009031177,0.020520461723208427,0.1333896666765213],"gyroscope":[-0.0021305286791175604,-0.03621898591518402,0.019174758344888687],"accelerometer":[-1.0890624523162842,-0.061052143573760986,9.5501708984375],"rpy":[0.003718760097399354,0.040913619101047516,0.26770976185798645],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34235894680023193,"velocity_rad_s":0.0970839411020279,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014368286356329918,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299291849136353,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31035301089286804,"velocity_rad_s":-0.04489903524518013,"acceleration_raw":0.0,"estimated_torque_nm":6.64526891708374,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010017817839980125,"velocity_rad_s":-0.03463692590594292,"acceleration_raw":0.0,"estimated_torque_nm":-1.511507511138916,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33831092715263367,"velocity_rad_s":0.09381145238876343,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014581339433789253,"velocity_rad_s":0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995478630065918,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29489001631736755,"velocity_rad_s":-0.038954172283411026,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0016659850953146815,"velocity_rad_s":0.060463227331638336,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0010579597437754273,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007284278050065041,"velocity_rad_s":-0.008774973452091217,"acceleration_raw":0.0,"estimated_torque_nm":-0.9821996688842773,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02828678861260414,"velocity_rad_s":0.04211690276861191,"acceleration_raw":0.0,"estimated_torque_nm":1.0678534507751465,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27742281556129456,"velocity_rad_s":-0.11965050548315048,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20412731170654297,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9775652289390564,"velocity_rad_s":-0.06749515980482101,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020660804584622383,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22535137832164764,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036551885306835175,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788691295392,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810755,"imu":{"quaternion":[0.9908508658409119,-0.0008875177009031177,0.020520461723208427,0.1333896666765213],"gyroscope":[-0.0021305286791175604,-0.03621898591518402,0.019174758344888687],"accelerometer":[-1.0890624523162842,-0.061052143573760986,9.5501708984375],"rpy":[0.003718760097399354,0.040913619101047516,0.26770976185798645],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.34230780601501465,"velocity_rad_s":0.10144726186990738,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0144108971580863,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-1.669921875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299036145210266,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3103983402252197,"velocity_rad_s":-0.0353684239089489,"acceleration_raw":0.0,"estimated_torque_nm":6.64526891708374,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01002475619316101,"velocity_rad_s":-0.01601460389792919,"acceleration_raw":0.0,"estimated_torque_nm":-1.511507511138916,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3382342457771301,"velocity_rad_s":0.11671890318393707,"acceleration_raw":0.0,"estimated_torque_nm":3.515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014581339433789253,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009240408428013325,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995222926139832,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2949192225933075,"velocity_rad_s":-0.029385488480329514,"acceleration_raw":0.0,"estimated_torque_nm":4.79647970199585,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0017168332124128938,"velocity_rad_s":0.05484054237604141,"acceleration_raw":0.0,"estimated_torque_nm":0.8988158106803894,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001084743533283472,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00726906955242157,"velocity_rad_s":-0.0009955776622518897,"acceleration_raw":0.0,"estimated_torque_nm":-0.9821996688842773,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02825728990137577,"velocity_rad_s":0.03957587108016014,"acceleration_raw":0.0,"estimated_torque_nm":1.0678534507751465,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2773629128932953,"velocity_rad_s":-0.11351457983255386,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9775412678718567,"velocity_rad_s":-0.06902913749217987,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020624851807951927,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253873199224472,"velocity_rad_s":0.06289321184158325,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788692905088,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810756,"imu":{"quaternion":[0.9908488988876343,-0.0008961828425526619,0.020492801442742348,0.13340874016284943],"gyroscope":[-0.014913700520992279,-0.027696872130036354,0.01810949295759201],"accelerometer":[-1.0351929664611816,0.027832595631480217,9.635464668273926],"rpy":[0.0036949659697711468,0.04086102917790413,0.26774755120277405],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3422311246395111,"velocity_rad_s":0.09490227699279785,"acceleration_raw":0.0,"estimated_torque_nm":-0.263671875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.0144108971580863,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299036145210266,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31041479110717773,"velocity_rad_s":-0.029576128348708153,"acceleration_raw":0.0,"estimated_torque_nm":6.64526891708374,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010039156302809715,"velocity_rad_s":-0.02061452902853489,"acceleration_raw":0.0,"estimated_torque_nm":-1.511507511138916,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3381660580635071,"velocity_rad_s":0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014572817832231522,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995137691497803,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2949317395687103,"velocity_rad_s":-0.025661909952759743,"acceleration_raw":0.0,"estimated_torque_nm":4.79647970199585,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0017386175459250808,"velocity_rad_s":0.05203656852245331,"acceleration_raw":0.0,"estimated_torque_nm":0.8988158106803894,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0011517030652612448,"velocity_rad_s":-0.04456822946667671,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007269057910889387,"velocity_rad_s":-2.3708282242296264e-05,"acceleration_raw":0.0,"estimated_torque_nm":-1.0312256813049316,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028237659484148026,"velocity_rad_s":0.04020044207572937,"acceleration_raw":0.0,"estimated_torque_nm":1.1441410779953003,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2772790193557739,"velocity_rad_s":-0.12425244599580765,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9775412678718567,"velocity_rad_s":-0.05982525274157524,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020624851807951927,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22539931535720825,"velocity_rad_s":0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03657585382461548,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788694820768,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810757,"imu":{"quaternion":[0.990847647190094,-0.0009047872154042125,0.020481619983911514,0.1334194391965866],"gyroscope":[-0.019174758344888687,-0.023435814306139946,0.020240021869540215],"accelerometer":[-0.9283517003059387,0.021547814831137657,9.786299705505371],"rpy":[0.0036753525491803885,0.04084111750125885,0.26776862144470215],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3421117961406708,"velocity_rad_s":0.10035644471645355,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014419419690966606,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0121866250410676,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6299121379852295,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-10.458984375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31041890382766724,"velocity_rad_s":-0.02796603925526142,"acceleration_raw":0.0,"estimated_torque_nm":6.64526891708374,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01004637498408556,"velocity_rad_s":-0.0066854883916676044,"acceleration_raw":0.0,"estimated_torque_nm":-1.511507511138916,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33803823590278625,"velocity_rad_s":0.10908308625221252,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01453020703047514,"velocity_rad_s":-0.04363323375582695,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5995052456855774,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2949317395687103,"velocity_rad_s":-0.019758636131882668,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0017386175459250808,"velocity_rad_s":0.034400761127471924,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0011784868547692895,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007269025780260563,"velocity_rad_s":0.0009459384018555284,"acceleration_raw":0.0,"estimated_torque_nm":-1.0312256813049316,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028178773820400238,"velocity_rad_s":0.04459380358457565,"acceleration_raw":0.0,"estimated_torque_nm":1.1441410779953003,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2771831452846527,"velocity_rad_s":-0.09970875829458237,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005105279851704836,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9775053262710571,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02063683606684208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22544725239276886,"velocity_rad_s":0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788696815456,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810758,"imu":{"quaternion":[0.990847647190094,-0.0009047872154042125,0.020481619983911514,0.1334194391965866],"gyroscope":[-0.019174758344888687,-0.023435814306139946,0.020240021869540215],"accelerometer":[-0.9283517003059387,0.021547814831137657,9.786299705505371],"rpy":[0.0036753525491803885,0.04084111750125885,0.26776862144470215],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3420606553554535,"velocity_rad_s":0.09490227699279785,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014427941292524338,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012159841135144234,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6298950910568237,"velocity_rad_s":-0.030543264001607895,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31043538451194763,"velocity_rad_s":-0.024808969348669052,"acceleration_raw":0.0,"estimated_torque_nm":6.64526891708374,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010046262294054031,"velocity_rad_s":-0.010375485755503178,"acceleration_raw":0.0,"estimated_torque_nm":-1.511507511138916,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3379615247249603,"velocity_rad_s":0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01453020703047514,"velocity_rad_s":-0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5994455814361572,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2949441969394684,"velocity_rad_s":-0.01867605932056904,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0017459546215832233,"velocity_rad_s":0.028836987912654877,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001191878691315651,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0072690085507929325,"velocity_rad_s":-0.0009985411306843162,"acceleration_raw":0.0,"estimated_torque_nm":-1.0312256813049316,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028149330988526344,"velocity_rad_s":0.04460092633962631,"acceleration_raw":0.0,"estimated_torque_nm":1.1441410779953003,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2771352231502533,"velocity_rad_s":-0.10124273598194122,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774454236030579,"velocity_rad_s":-0.05675728991627693,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02063683606684208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22544725239276886,"velocity_rad_s":0.03681553900241852,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03658783808350563,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788699018688,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810759,"imu":{"quaternion":[0.9908462166786194,-0.0009137921733781695,0.0204707533121109,0.13343121111392975],"gyroscope":[-0.020240021869540215,-0.02237055078148842,0.02237055078148842],"accelerometer":[-0.8224082589149475,0.11941081285476685,9.911994934082031],"rpy":[0.0036550727672874928,0.04082193225622177,0.26779186725616455],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3420010209083557,"velocity_rad_s":0.08835729211568832,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014444985426962376,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012173233553767204,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":1.4541903734207153,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629878044128418,"velocity_rad_s":-0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31045591831207275,"velocity_rad_s":-0.015300631523132324,"acceleration_raw":0.0,"estimated_torque_nm":6.64526891708374,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010082374326884747,"velocity_rad_s":-0.0028877791482955217,"acceleration_raw":0.0,"estimated_torque_nm":-1.511507511138916,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33789336681365967,"velocity_rad_s":0.11017391085624695,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014513162896037102,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009267191402614117,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5994200110435486,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-8.0859375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2949441969394684,"velocity_rad_s":-0.01174110732972622,"acceleration_raw":0.0,"estimated_torque_nm":4.79647970199585,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0017459546215832233,"velocity_rad_s":0.018602371215820312,"acceleration_raw":0.0,"estimated_torque_nm":0.8988158106803894,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0012052706442773342,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0072689782828092575,"velocity_rad_s":-0.0078097740188241005,"acceleration_raw":0.0,"estimated_torque_nm":-0.9821996688842773,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028100257739424706,"velocity_rad_s":0.0540478453040123,"acceleration_raw":0.0,"estimated_torque_nm":1.0678534507751465,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2770393490791321,"velocity_rad_s":-0.1089126393198967,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005093295592814684,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774094223976135,"velocity_rad_s":-0.05368933081626892,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02063683606684208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2254592329263687,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05878262594342232,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788700968608,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810760,"imu":{"quaternion":[0.9908434152603149,-0.0009274670155718923,0.02044403739273548,0.13345679640769958],"gyroscope":[-0.013848436065018177,-0.029827401041984558,0.026631608605384827],"accelerometer":[-0.8960300087928772,0.11671733111143112,9.95329475402832],"rpy":[0.003621859010308981,0.04077252745628357,0.2678426206111908],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3419498801231384,"velocity_rad_s":0.07417649775743484,"acceleration_raw":0.0,"estimated_torque_nm":-0.17578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014453507959842682,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.58203125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012159841135144234,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":1.3982599973678589,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6298950910568237,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-10.37109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31046411395072937,"velocity_rad_s":-0.01793585531413555,"acceleration_raw":0.0,"estimated_torque_nm":6.64526891708374,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.01009681262075901,"velocity_rad_s":-0.001977848121896386,"acceleration_raw":0.0,"estimated_torque_nm":-1.511507511138916,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3378251791000366,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":3.427734375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014504640363156796,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00925379991531372,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5994029641151428,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.173828125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29494836926460266,"velocity_rad_s":-0.01064398791640997,"acceleration_raw":0.0,"estimated_torque_nm":4.886505126953125,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0017532160272821784,"velocity_rad_s":0.009334320202469826,"acceleration_raw":0.0,"estimated_torque_nm":0.8474053144454956,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0012454462703317404,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.007253769785165787,"velocity_rad_s":-0.019473683089017868,"acceleration_raw":0.0,"estimated_torque_nm":-0.9821996688842773,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.028070759028196335,"velocity_rad_s":0.04906554892659187,"acceleration_raw":0.0,"estimated_torque_nm":1.0678534507751465,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2769314646720886,"velocity_rad_s":-0.12118449062108994,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005093295592814684,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774094223976135,"velocity_rad_s":-0.052155349403619766,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02063683606684208,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22547121345996857,"velocity_rad_s":0.03834952041506767,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[43,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1785050332546234,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788702957504,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810786,"imu":{"quaternion":[0.9908282160758972,-0.0009677291382104158,0.019725382328033447,0.13367721438407898],"gyroscope":[-0.0031957929022610188,-0.07030744105577469,0.009587379172444344],"accelerometer":[-0.5324106216430664,-0.05027823522686958,9.780014991760254],"rpy":[0.00335856806486845,0.03935781493782997,0.2682759165763855],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3393591642379761,"velocity_rad_s":0.0970839411020279,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014785869978368282,"velocity_rad_s":0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012092881835997105,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629571259021759,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31118112802505493,"velocity_rad_s":-0.05541394278407097,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010062925517559052,"velocity_rad_s":-0.018006812781095505,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3350810706615448,"velocity_rad_s":0.0970839411020279,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014283065684139729,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5986956357955933,"velocity_rad_s":-0.047996558248996735,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2953721582889557,"velocity_rad_s":-0.04200557991862297,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0020455471239984035,"velocity_rad_s":0.027146844193339348,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0017677302239462733,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006994268856942654,"velocity_rad_s":-0.017575213685631752,"acceleration_raw":0.0,"estimated_torque_nm":-0.8854843974113464,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.026177629828453064,"velocity_rad_s":0.12410449236631393,"acceleration_raw":0.0,"estimated_torque_nm":0.6115897297859192,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27509787678718567,"velocity_rad_s":-0.04448544606566429,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773135781288147,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020540961995720863,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253393828868866,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03665974363684654,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788704879872,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810787,"imu":{"quaternion":[0.990828812122345,-0.0009635325986891985,0.019652213901281357,0.1336827576160431],"gyroscope":[-0.0010652643395587802,-0.06711164861917496,0.0031957929022610188],"accelerometer":[-0.5090671181678772,-0.1562216579914093,9.54209041595459],"rpy":[0.0033475125674158335,0.03921162337064743,0.26828622817993164],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3392994999885559,"velocity_rad_s":0.09162978827953339,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014785869978368282,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012092881835997105,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6295371651649475,"velocity_rad_s":-0.05345071107149124,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31121826171875,"velocity_rad_s":-0.05226800963282585,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.010040933266282082,"velocity_rad_s":-0.02726411446928978,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33501288294792175,"velocity_rad_s":0.09490227699279785,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014257499016821384,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009133272804319859,"velocity_rad_s":0.056567370891571045,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5986615419387817,"velocity_rad_s":-0.04908738657832146,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29541781544685364,"velocity_rad_s":-0.040454428642988205,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0020675796549767256,"velocity_rad_s":0.03732255473732948,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001794514013454318,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00697903148829937,"velocity_rad_s":-0.017575213685631752,"acceleration_raw":0.0,"estimated_torque_nm":-0.9350849986076355,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02609926462173462,"velocity_rad_s":0.12410449236631393,"acceleration_raw":0.0,"estimated_torque_nm":0.5350382328033447,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27507391571998596,"velocity_rad_s":-0.05062136799097061,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20411533117294312,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773255586624146,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253393828868866,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255693316459656,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788706496096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810788,"imu":{"quaternion":[0.990828812122345,-0.0009635325986891985,0.019652213901281357,0.1336827576160431],"gyroscope":[-0.0010652643395587802,-0.06711164861917496,0.0031957929022610188],"accelerometer":[-0.5090671181678772,-0.1562216579914093,9.54209041595459],"rpy":[0.0033475125674158335,0.03921162337064743,0.26828622817993164],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33922281861305237,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01477734837681055,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.40625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629503071308136,"velocity_rad_s":-0.05454154312610626,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31125128269195557,"velocity_rad_s":-0.04911093786358833,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.0100117027759552,"velocity_rad_s":-0.030954113230109215,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33487653732299805,"velocity_rad_s":0.09817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014248977415263653,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009119881317019463,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.598644495010376,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2954470217227936,"velocity_rad_s":-0.04576551541686058,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002118409611284733,"velocity_rad_s":0.03921150788664818,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018079059664160013,"velocity_rad_s":-0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006925816647708416,"velocity_rad_s":-0.010767723433673382,"acceleration_raw":0.0,"estimated_torque_nm":-0.8854843974113464,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.026006078347563744,"velocity_rad_s":0.11844124644994736,"acceleration_raw":0.0,"estimated_torque_nm":0.6115897297859192,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27507391571998596,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20412731170654297,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773255586624146,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253154218196869,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03665974363684654,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788710238752,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810789,"imu":{"quaternion":[0.9908297061920166,-0.0009605768136680126,0.019616855308413506,0.13368208706378937],"gyroscope":[-0.0010652643395587802,-0.06711164861917496,-0.0021305286791175604],"accelerometer":[-0.3842693865299225,-0.2091933786869049,9.676764488220215],"rpy":[0.0033438745886087418,0.039140745997428894,0.26828446984291077],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3391716778278351,"velocity_rad_s":0.06326819211244583,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01480291411280632,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.0121062733232975,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6294605135917664,"velocity_rad_s":-0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31127607822418213,"velocity_rad_s":-0.044369760900735855,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009968053549528122,"velocity_rad_s":-0.0337054468691349,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33479130268096924,"velocity_rad_s":0.12217305600643158,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014240454882383347,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009146664291620255,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5986104607582092,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29547616839408875,"velocity_rad_s":-0.04581641033291817,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002154774498194456,"velocity_rad_s":0.052176471799612045,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018079059664160013,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006963725201785564,"velocity_rad_s":-0.01562160812318325,"acceleration_raw":0.0,"estimated_torque_nm":-0.9345214366912842,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02591322734951973,"velocity_rad_s":0.10906217992305756,"acceleration_raw":0.0,"estimated_torque_nm":0.688077986240387,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27507391571998596,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20412731170654297,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773255586624146,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22532740235328674,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788710892320,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810790,"imu":{"quaternion":[0.9908307790756226,-0.0009565907530486584,0.019584152847528458,0.13367870450019836],"gyroscope":[0.0021305286791175604,-0.06178532913327217,-0.0074568502604961395],"accelerometer":[-0.3842693865299225,-0.2091933786869049,9.676764488220215],"rpy":[0.0033428866881877184,0.03907485678792,0.2682773768901825],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3391120135784149,"velocity_rad_s":0.06763151288032532,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014828480780124664,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629417896270752,"velocity_rad_s":-0.046905726194381714,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113173842430115,"velocity_rad_s":-0.040154144167900085,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009924273937940598,"velocity_rad_s":-0.03553249314427376,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3347060978412628,"velocity_rad_s":0.13089969754219055,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01423193234950304,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009093097411096096,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5985763669013977,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29550549387931824,"velocity_rad_s":-0.038398340344429016,"acceleration_raw":0.0,"estimated_torque_nm":3.5303802490234375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002234571147710085,"velocity_rad_s":0.05397706478834152,"acceleration_raw":0.0,"estimated_torque_nm":0.7903175950050354,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018079059664160013,"velocity_rad_s":-0.039425741881132126,"acceleration_raw":0.0,"estimated_torque_nm":0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006956109311431646,"velocity_rad_s":-0.021446267142891884,"acceleration_raw":0.0,"estimated_torque_nm":-0.8854843974113464,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025878937914967537,"velocity_rad_s":0.09780728071928024,"acceleration_raw":0.0,"estimated_torque_nm":0.6115897297859192,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27507391571998596,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20411533117294312,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773495197296143,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14581206440925598,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253154218196869,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788712559648,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810791,"imu":{"quaternion":[0.9908335208892822,-0.0009501731256023049,0.019521398469805717,0.13366778194904327],"gyroscope":[-0.0010652643395587802,-0.056459009647369385,-0.011717907153069973],"accelerometer":[-0.6931213736534119,-0.0314238965511322,9.475651741027832],"rpy":[0.00333837466314435,0.038948774337768555,0.26825469732284546],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33906087279319763,"velocity_rad_s":0.07526732236146927,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01483700331300497,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6293752789497375,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31134214997291565,"velocity_rad_s":-0.03963972255587578,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009895100258290768,"velocity_rad_s":-0.042024094611406326,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3346293866634369,"velocity_rad_s":0.11890055239200592,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014223410747945309,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009093097411096096,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5985422730445862,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29552212357521057,"velocity_rad_s":-0.03309452161192894,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0022491696290671825,"velocity_rad_s":0.053940244019031525,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001794514013454318,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006940903607755899,"velocity_rad_s":-0.02435458078980446,"acceleration_raw":0.0,"estimated_torque_nm":-0.9345214366912842,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025849517434835434,"velocity_rad_s":0.08591518551111221,"acceleration_raw":0.0,"estimated_torque_nm":0.688077986240387,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27507391571998596,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20412731170654297,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773495197296143,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2253154218196869,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01396162249147892,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788714482368,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810792,"imu":{"quaternion":[0.9908335208892822,-0.0009501731256023049,0.019521398469805717,0.13366778194904327],"gyroscope":[-0.0010652643395587802,-0.056459009647369385,-0.011717907153069973],"accelerometer":[-0.6931213736534119,-0.0314238965511322,9.475651741027832],"rpy":[0.00333837466314435,0.038948774337768555,0.26825469732284546],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33895009756088257,"velocity_rad_s":0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01486256904900074,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6293497085571289,"velocity_rad_s":-0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113669455051422,"velocity_rad_s":-0.04174567386507988,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009865926578640938,"velocity_rad_s":-0.0401826873421669,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33450156450271606,"velocity_rad_s":0.10690142214298248,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014223410747945309,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00906631350517273,"velocity_rad_s":0.037711579352617264,"acceleration_raw":0.0,"estimated_torque_nm":-1.23046875,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5985252261161804,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955305278301239,"velocity_rad_s":-0.02828836999833584,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002278157975524664,"velocity_rad_s":0.04557249695062637,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001794514013454318,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006925697438418865,"velocity_rad_s":-0.006846855394542217,"acceleration_raw":0.0,"estimated_torque_nm":-0.9339578151702881,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025820095092058182,"velocity_rad_s":0.067056804895401,"acceleration_raw":0.0,"estimated_torque_nm":0.8411177396774292,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2750858962535858,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773615002632141,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14580008387565613,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22530344128608704,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05880659446120262,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788716389216,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810793,"imu":{"quaternion":[0.9908345341682434,-0.0009500663727521896,0.019494056701660156,0.13366451859474182],"gyroscope":[-0.004261057358235121,-0.0511326864361763,-0.0074568502604961395],"accelerometer":[-0.8771756291389465,-0.04399345442652702,9.305065155029297],"rpy":[0.0033311352599412203,0.03889455273747444,0.26824772357940674],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33887338638305664,"velocity_rad_s":0.09381145238876343,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014888135716319084,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6293241381645203,"velocity_rad_s":-0.04254240170121193,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3113917112350464,"velocity_rad_s":-0.041749387979507446,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009851282462477684,"velocity_rad_s":-0.0420384556055069,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33445894718170166,"velocity_rad_s":0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014197844080626965,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009039529599249363,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5984996557235718,"velocity_rad_s":-0.04145157337188721,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955513000488281,"velocity_rad_s":-0.03353401646018028,"acceleration_raw":0.0,"estimated_torque_nm":3.5303802490234375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0022999998182058334,"velocity_rad_s":0.03079221025109291,"acceleration_raw":0.0,"estimated_torque_nm":0.7903175950050354,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018079059664160013,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0069180941209197044,"velocity_rad_s":-0.01850019581615925,"acceleration_raw":0.0,"estimated_torque_nm":-0.884357213973999,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025805383920669556,"velocity_rad_s":0.05081167072057724,"acceleration_raw":0.0,"estimated_torque_nm":0.9176691770553589,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27507391571998596,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977373480796814,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02052897773683071,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22530344128608704,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03665974363684654,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788718273984,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810794,"imu":{"quaternion":[0.9908351898193359,-0.0009519936284050345,0.01947001740336418,0.1336628794670105],"gyroscope":[-0.0074568502604961395,-0.04474110156297684,-0.004261057358235121],"accelerometer":[-0.9382277727127075,-0.09965864568948746,9.425373077392578],"rpy":[0.0033208108507096767,0.0388474203646183,0.26824402809143066],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33882227540016174,"velocity_rad_s":0.0872664675116539,"acceleration_raw":0.0,"estimated_torque_nm":-0.87890625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014905179850757122,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6292559504508972,"velocity_rad_s":-0.04472406581044197,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31141233444213867,"velocity_rad_s":-0.03381401672959328,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009829383343458176,"velocity_rad_s":-0.02992209792137146,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33438223600387573,"velocity_rad_s":0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01420636661350727,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009026138111948967,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5984570384025574,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29556795954704285,"velocity_rad_s":-0.030286287888884544,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0023145803716033697,"velocity_rad_s":0.014100885950028896,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001794514013454318,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006910497322678566,"velocity_rad_s":-0.02432486042380333,"acceleration_raw":0.0,"estimated_torque_nm":-0.884357213973999,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025800462812185287,"velocity_rad_s":0.03955678269267082,"acceleration_raw":0.0,"estimated_torque_nm":0.9176691770553589,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2750858962535858,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20412731170654297,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977373480796814,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020552946254611015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.225291445851326,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788720456448,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810795,"imu":{"quaternion":[0.9908358454704285,-0.0009537588339298964,0.019448498263955116,0.1336607038974762],"gyroscope":[-0.0063915858045220375,-0.04048004373908043,-0.0053263213485479355],"accelerometer":[-0.9382277727127075,-0.09965864568948746,9.425373077392578],"rpy":[0.003311462001875043,0.03880523517727852,0.26823922991752625],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33877965807914734,"velocity_rad_s":0.07853981852531433,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014913702383637428,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":-0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6292218565940857,"velocity_rad_s":-0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31143704056739807,"velocity_rad_s":-0.03167836740612984,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009843708947300911,"velocity_rad_s":-0.016917353495955467,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33433961868286133,"velocity_rad_s":0.08072148263454437,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009026138111948967,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5983973741531372,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955721914768219,"velocity_rad_s":-0.02076123096048832,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002336324891075492,"velocity_rad_s":0.01959102600812912,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018212978029623628,"velocity_rad_s":-0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00690288795158267,"velocity_rad_s":-0.01946856640279293,"acceleration_raw":0.0,"estimated_torque_nm":-0.933394193649292,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025775963440537453,"velocity_rad_s":0.045177068561315536,"acceleration_raw":0.0,"estimated_torque_nm":0.9941574335098267,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2750858962535858,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20411533117294312,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773854613304138,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020540961995720863,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22526748478412628,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255573511123657,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.01396162249147892,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788722043072,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810796,"imu":{"quaternion":[0.9908367991447449,-0.0009540304308757186,0.019427433609962463,0.13365691900253296],"gyroscope":[-0.0031957929022610188,-0.04048004373908043,-0.008522114716470242],"accelerometer":[-0.905906081199646,-0.09068039059638977,9.632771492004395],"rpy":[0.003305133432149887,0.03876356780529022,0.2682313024997711],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33869442343711853,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014913702383637428,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012133057229220867,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6292048096656799,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-11.162109375,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31143704056739807,"velocity_rad_s":-0.02007150463759899,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009843708947300911,"velocity_rad_s":-0.01498259324580431,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3342544138431549,"velocity_rad_s":0.08508480340242386,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014189322479069233,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009026138111948967,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5983718037605286,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955763339996338,"velocity_rad_s":-0.014930668286979198,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002343586413189769,"velocity_rad_s":0.020476598292589188,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018212978029623628,"velocity_rad_s":-0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006849710829555988,"velocity_rad_s":-0.027236387133598328,"acceleration_raw":0.0,"estimated_torque_nm":-0.933394193649292,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02574150823056698,"velocity_rad_s":0.03267640620470047,"acceleration_raw":0.0,"estimated_torque_nm":0.9941574335098267,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27507391571998596,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773854613304138,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020540961995720863,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22526748478412628,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03665974363684654,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788724386528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810797,"imu":{"quaternion":[0.9908376336097717,-0.0009530758252367377,0.01940881460905075,0.13365359604358673],"gyroscope":[-0.0,-0.03621898591518402,-0.0074568502604961395],"accelerometer":[-0.8125321865081787,-0.15442600846290588,9.736021041870117],"rpy":[0.0033019103575497866,0.03872641175985336,0.26822441816329956],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33862626552581787,"velocity_rad_s":0.07635816186666489,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014930746518075466,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6291792392730713,"velocity_rad_s":-0.028361603617668152,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114452660083771,"velocity_rad_s":-0.016374025493860245,"acceleration_raw":0.0,"estimated_torque_nm":5.736355304718018,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00984365213662386,"velocity_rad_s":-0.012173806317150593,"acceleration_raw":0.0,"estimated_torque_nm":-1.5096893310546875,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3342203199863434,"velocity_rad_s":0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.598337709903717,"velocity_rad_s":-0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558050632476807,"velocity_rad_s":-0.01438210904598236,"acceleration_raw":0.0,"estimated_torque_nm":3.5303802490234375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0023508479353040457,"velocity_rad_s":0.01584257371723652,"acceleration_raw":0.0,"estimated_torque_nm":0.7903175950050354,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018212978029623628,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006857288535684347,"velocity_rad_s":-0.023347653448581696,"acceleration_raw":0.0,"estimated_torque_nm":-0.8837935924530029,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02571706473827362,"velocity_rad_s":0.03140915557742119,"acceleration_raw":0.0,"estimated_torque_nm":1.070708990097046,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27509787678718567,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9773974418640137,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020552946254611015,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22524350881576538,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058758657425642014,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788725975264,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810798,"imu":{"quaternion":[0.9908382892608643,-0.0009517930448055267,0.019391845911741257,0.13365133106708527],"gyroscope":[0.0010652643395587802,-0.03302319347858429,-0.0053263213485479355],"accelerometer":[-0.722749650478363,-0.10773907601833344,9.804255485534668],"rpy":[0.0032998211681842804,0.03869243338704109,0.26821964979171753],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3385751247406006,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014939268119633198,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012133057229220867,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.629111111164093,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31145355105400085,"velocity_rad_s":-0.010566879995167255,"acceleration_raw":0.0,"estimated_torque_nm":5.736355304718018,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009829103015363216,"velocity_rad_s":-0.009350655600428581,"acceleration_raw":0.0,"estimated_torque_nm":-1.5096893310546875,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33419474959373474,"velocity_rad_s":0.050178222358226776,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014146711677312851,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.009012745693325996,"velocity_rad_s":-0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5982524752616882,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558050632476807,"velocity_rad_s":-0.0074616982601583,"acceleration_raw":0.0,"estimated_torque_nm":3.5303802490234375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0023508479353040457,"velocity_rad_s":0.009312230162322521,"acceleration_raw":0.0,"estimated_torque_nm":0.7903175950050354,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001834689755924046,"velocity_rad_s":-0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068420828320086,"velocity_rad_s":-0.02141011878848076,"acceleration_raw":0.0,"estimated_torque_nm":-0.8837935924530029,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02568764239549637,"velocity_rad_s":0.0414254367351532,"acceleration_raw":0.0,"estimated_torque_nm":1.070708990097046,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2750858962535858,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774333834648132,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020552946254611015,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007310377433896065,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22521954774856567,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.375,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788728116416,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810799,"imu":{"quaternion":[0.9908387064933777,-0.0009522745385766029,0.01937626488506794,0.13365070521831512],"gyroscope":[-0.0021305286791175604,-0.029827401041984558,-0.0021305286791175604],"accelerometer":[-0.722749650478363,-0.10773907601833344,9.804255485534668],"rpy":[0.0032946690917015076,0.03866168111562729,0.26821812987327576],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3385325074195862,"velocity_rad_s":0.06544984877109528,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014939268119633198,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6290514469146729,"velocity_rad_s":-0.06217735633254051,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31144940853118896,"velocity_rad_s":-0.002128225052729249,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009836377575993538,"velocity_rad_s":-0.009293207898736,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33415213227272034,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014155233278870583,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5982099175453186,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955722212791443,"velocity_rad_s":-0.002165153156965971,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350790426135063,"velocity_rad_s":0.011127551086246967,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018212978029623628,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0068192798644304276,"velocity_rad_s":-0.031132349744439125,"acceleration_raw":0.0,"estimated_torque_nm":-0.8837935924530029,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025653298944234848,"velocity_rad_s":0.0452200211584568,"acceleration_raw":0.0,"estimated_torque_nm":1.070708990097046,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2751098871231079,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.5,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774333834648132,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020552946254611015,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007298393175005913,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22521954774856567,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788730386784,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810800,"imu":{"quaternion":[0.9908391833305359,-0.0009565996006131172,0.019361304119229317,0.1336485743522644],"gyroscope":[-0.009587379172444344,-0.027696872130036354,-0.0053263213485479355],"accelerometer":[-0.7829039692878723,-0.049380410462617874,9.94162368774414],"rpy":[0.003282003104686737,0.038633186370134354,0.2682134509086609],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3384643495082855,"velocity_rad_s":0.05781403183937073,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014930746518075466,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012133057229220867,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6290514469146729,"velocity_rad_s":-0.039269909262657166,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31144940853118896,"velocity_rad_s":-0.004241601098328829,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009836377575993538,"velocity_rad_s":-0.011163339018821716,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3340669274330139,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":2.548828125,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014138189144432545,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5981758236885071,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955763339996338,"velocity_rad_s":-0.0016456785378977656,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002343586413189769,"velocity_rad_s":0.013902075588703156,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018212978029623628,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804072298109531,"velocity_rad_s":-0.018491359427571297,"acceleration_raw":0.0,"estimated_torque_nm":-0.8837935924530029,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025623878464102745,"velocity_rad_s":0.0370294414460659,"acceleration_raw":0.0,"estimated_torque_nm":1.070708990097046,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27512186765670776,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774693846702576,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020564930513501167,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22520756721496582,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013949638232588768,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788733215552,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810801,"imu":{"quaternion":[0.9908397793769836,-0.000962565653026104,0.019346868619322777,0.13364653289318085],"gyroscope":[-0.012783171609044075,-0.026631608605384827,-0.0053263213485479355],"accelerometer":[-0.9139865040779114,-0.0520738884806633,9.763854026794434],"rpy":[0.003266226267442107,0.03860617056488991,0.26820889115333557],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3384387791156769,"velocity_rad_s":0.04581489413976669,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014947790652513504,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.1745383739471436,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6290173530578613,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.311465859413147,"velocity_rad_s":-0.006351264659315348,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009850776754319668,"velocity_rad_s":-0.011177700944244862,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3340243101119995,"velocity_rad_s":0.06872233748435974,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014129667542874813,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.118607997894287,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5981502532958984,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955722212791443,"velocity_rad_s":-0.002677357057109475,"acceleration_raw":0.0,"estimated_torque_nm":3.5303802490234375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350790426135063,"velocity_rad_s":0.006500889081507921,"acceleration_raw":0.0,"estimated_torque_nm":0.7903175950050354,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018212978029623628,"velocity_rad_s":-0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006804066244512796,"velocity_rad_s":-0.016542576253414154,"acceleration_raw":0.0,"estimated_torque_nm":-0.8837935924530029,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025614090263843536,"velocity_rad_s":0.029504703357815742,"acceleration_raw":0.0,"estimated_torque_nm":1.070708990097046,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2751338481903076,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20409135520458221,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9774813652038574,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020552946254611015,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22520756721496582,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03664775937795639,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788735117792,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810802,"imu":{"quaternion":[0.9908403158187866,-0.0009704347467049956,0.01933407038450241,0.13364450633525848],"gyroscope":[-0.015978964045643806,-0.023435814306139946,-0.0053263213485479355],"accelerometer":[-1.0046669244766235,-0.15352818369865417,9.613018989562988],"rpy":[0.0032471148297190666,0.03858290985226631,0.26820436120033264],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3383961617946625,"velocity_rad_s":0.05890486761927605,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01492222398519516,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012092881835997105,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.628966212272644,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31145763397216797,"velocity_rad_s":-0.0010659685358405113,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00985083356499672,"velocity_rad_s":-0.005574488081037998,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33395612239837646,"velocity_rad_s":0.0719948336482048,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.0089993542060256,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5980735421180725,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29557639360427856,"velocity_rad_s":-2.1813306375406682e-05,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0023580517154186964,"velocity_rad_s":0.005556412041187286,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018212978029623628,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006781275849789381,"velocity_rad_s":-0.019456511363387108,"acceleration_raw":0.0,"estimated_torque_nm":-0.9328306317329407,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025599323213100433,"velocity_rad_s":0.026383118703961372,"acceleration_raw":0.0,"estimated_torque_nm":1.1471971273422241,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2751338481903076,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9775292873382568,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020552946254611015,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22520756721496582,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788736720704,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810803,"imu":{"quaternion":[0.9908409714698792,-0.000976329087279737,0.01932169869542122,0.13364137709140778],"gyroscope":[-0.011717907153069973,-0.023435814306139946,-0.0074568502604961395],"accelerometer":[-0.887949526309967,-0.1759738177061081,9.581595420837402],"rpy":[0.003231991082429886,0.03855997323989868,0.2681976556777954],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33837059140205383,"velocity_rad_s":0.055632371455430984,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014939268119633198,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.318359375,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012133057229220867,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6289491653442383,"velocity_rad_s":-0.03381575644016266,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3114699721336365,"velocity_rad_s":-0.007909383624792099,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009857996366918087,"velocity_rad_s":0.0008740261546336114,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3339305818080902,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":2.373046875,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.00898596178740263,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5980735421180725,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955763339996338,"velocity_rad_s":-0.0015947804786264896,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002343586413189769,"velocity_rad_s":0.0009371136547997594,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018212978029623628,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006766082253307104,"velocity_rad_s":-0.012650629505515099,"acceleration_raw":0.0,"estimated_torque_nm":-0.9328306317329407,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025589479133486748,"velocity_rad_s":0.023225735872983932,"acceleration_raw":0.0,"estimated_torque_nm":1.1471971273422241,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27512186765670776,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9775412678718567,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020564930513501167,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22519557178020477,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03665974363684654,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788738886016,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810803,"imu":{"quaternion":[0.9908418655395508,-0.0009803958237171173,0.01931077428162098,0.13363659381866455],"gyroscope":[-0.0074568502604961395,-0.021305285394191742,-0.010652642697095871],"accelerometer":[-0.887949526309967,-0.1759738177061081,9.581595420837402],"rpy":[0.0032208142802119255,0.03853942081332207,0.2681877017021179],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33827686309814453,"velocity_rad_s":0.06981317698955536,"acceleration_raw":0.0,"estimated_torque_nm":-0.791015625,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.014939268119633198,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012119665741920471,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.23046875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6289321184158325,"velocity_rad_s":-0.01745329424738884,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31147411465644836,"velocity_rad_s":-0.008427519351243973,"acceleration_raw":0.0,"estimated_torque_nm":5.8275980949401855,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009850720874965191,"velocity_rad_s":0.005509858950972557,"acceleration_raw":0.0,"estimated_torque_nm":-1.5615345239639282,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33381977677345276,"velocity_rad_s":0.0665406808257103,"acceleration_raw":0.0,"estimated_torque_nm":2.28515625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014121145009994507,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.845703125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008959177881479263,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-1.1745383739471436,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5980479717254639,"velocity_rad_s":-0.03272492438554764,"acceleration_raw":0.0,"estimated_torque_nm":-8.7890625,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29556816816329956,"velocity_rad_s":0.0015729671576991677,"acceleration_raw":0.0,"estimated_torque_nm":3.6204051971435547,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002372459741309285,"velocity_rad_s":0.004619298502802849,"acceleration_raw":0.0,"estimated_torque_nm":0.7389071583747864,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0018079059664160013,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.055930398404598236,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006758485455065966,"velocity_rad_s":-0.011675836518406868,"acceleration_raw":0.0,"estimated_torque_nm":-0.7851559519767761,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02558455616235733,"velocity_rad_s":0.01883690431714058,"acceleration_raw":0.0,"estimated_torque_nm":1.0707721710205078,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2751338481903076,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.4375,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20410333573818207,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9775412678718567,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020564930513501167,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22520756721496582,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784570962190628,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788740781568,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810827,"imu":{"quaternion":[0.9908451437950134,-0.0010897984029725194,0.019135847687721252,0.133636474609375],"gyroscope":[-0.008522114716470242,-0.019174758344888687,0.0063915858045220375],"accelerometer":[-0.8924387097358704,0.042197804898023605,9.547477722167969],"rpy":[0.0029570148326456547,0.03822190314531326,0.2681810259819031],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33772289752960205,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015075622126460075,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012052706442773342,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6287872195243835,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3115769922733307,"velocity_rad_s":-0.006336416117846966,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009915259666740894,"velocity_rad_s":-0.003754624631255865,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":2.197265625,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014035924337804317,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974684953689575,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558467864990234,"velocity_rad_s":-0.0010462210047990084,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002358109224587679,"velocity_rad_s":-0.003696911269798875,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0015534599078819156,"velocity_rad_s":0.023998279124498367,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006416679825633764,"velocity_rad_s":-0.04861241206526756,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02543148770928383,"velocity_rad_s":0.021503103896975517,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2756611406803131,"velocity_rad_s":0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9776371717453003,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02087652124464512,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007346330210566521,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22486001253128052,"velocity_rad_s":-0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788743426656,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810827,"imu":{"quaternion":[0.9908445477485657,-0.0010941146174445748,0.019132260233163834,0.13364122807979584],"gyroscope":[-0.0074568502604961395,-0.009587379172444344,0.008522114716470242],"accelerometer":[-0.9436147212982178,-0.002693476853892207,9.619303703308105],"rpy":[0.002947678556665778,0.03821593150496483,0.2681904137134552],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377058804035187,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015058577992022038,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6287957429885864,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3115851581096649,"velocity_rad_s":-0.008427519351243973,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009944191202521324,"velocity_rad_s":0.005509858950972557,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014027401804924011,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974770188331604,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-9.052734375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558882117271423,"velocity_rad_s":0.0005485593574121594,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350887516513467,"velocity_rad_s":-0.004634025041013956,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0015534599078819156,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006393889430910349,"velocity_rad_s":-0.039861831814050674,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025416703894734383,"velocity_rad_s":0.017080627381801605,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2757090926170349,"velocity_rad_s":0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20412731170654297,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005153216887265444,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9776731133460999,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02087652124464512,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22486001253128052,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788744074528,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810828,"imu":{"quaternion":[0.9908438324928284,-0.0010970375733450055,0.01913103088736534,0.13364696502685547],"gyroscope":[-0.004261057358235121,-0.0053263213485479355,0.010652642697095871],"accelerometer":[-0.9436147212982178,-0.002693476853892207,9.619303703308105],"rpy":[0.0029417737387120724,0.03821426257491112,0.26820191740989685],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377058804035187,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015067100524902344,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012052706442773342,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6287701725959778,"velocity_rad_s":-0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3115934133529663,"velocity_rad_s":-0.010015335865318775,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009944153018295765,"velocity_rad_s":0.0027154337149113417,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014027401804924011,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008865434676408768,"velocity_rad_s":0.018855789676308632,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974684953689575,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558467864990234,"velocity_rad_s":0.0016093227313831449,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002358109224587679,"velocity_rad_s":-0.004641388542950153,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0015400679549202323,"velocity_rad_s":0.02571243979036808,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006393883377313614,"velocity_rad_s":-0.016537390649318695,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02540690451860428,"velocity_rad_s":0.02201215922832489,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27572107315063477,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9776970744132996,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.4375,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020900487899780273,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2248120754957199,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255453109741211,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788749354368,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810829,"imu":{"quaternion":[0.9908438324928284,-0.0010970375733450055,0.01913103088736534,0.13364696502685547],"gyroscope":[-0.004261057358235121,-0.0053263213485479355,0.010652642697095871],"accelerometer":[-0.9436147212982178,-0.002693476853892207,9.619303703308105],"rpy":[0.0029417737387120724,0.03821426257491112,0.26820191740989685],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33771440386772156,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015075622126460075,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.628753125667572,"velocity_rad_s":-0.05235988274216652,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3115933835506439,"velocity_rad_s":-0.00525931129232049,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009958646260201931,"velocity_rad_s":0.007387171033769846,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008852043189108372,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974599719047546,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955930531024933,"velocity_rad_s":0.0015947804786264896,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002372650196775794,"velocity_rad_s":-0.0009371136547997594,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0015266761183738708,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006393883377313614,"velocity_rad_s":-0.007789944298565388,"acceleration_raw":0.0,"estimated_torque_nm":-0.7857233285903931,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02540690451860428,"velocity_rad_s":0.022607123479247093,"acceleration_raw":0.0,"estimated_torque_nm":0.9166988730430603,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2757450342178345,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777210354804993,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02087652124464512,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22480009496212006,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788752756832,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810830,"imu":{"quaternion":[0.9908426403999329,-0.0011032933834940195,0.01912321336567402,0.13365638256072998],"gyroscope":[-0.0053263213485479355,-0.011717907153069973,0.0063915858045220375],"accelerometer":[-0.9265560507774353,-0.06464344263076782,9.516951560974121],"rpy":[0.0029276383575052023,0.03820040449500084,0.26822054386138916],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377058804035187,"velocity_rad_s":0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015058577992022038,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012052706442773342,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6287786960601807,"velocity_rad_s":-0.03817908093333244,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3115933835506439,"velocity_rad_s":-0.0036974800750613213,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009958646260201931,"velocity_rad_s":-0.0028087873943150043,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33308687806129456,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01401888020336628,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974684953689575,"velocity_rad_s":0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955930531024933,"velocity_rad_s":0.003160476451739669,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002372650196775794,"velocity_rad_s":0.005534322001039982,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0014865003759041429,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006386299151927233,"velocity_rad_s":-0.01944746822118759,"acceleration_raw":0.0,"estimated_torque_nm":-0.7857233285903931,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02542157657444477,"velocity_rad_s":0.012615194544196129,"acceleration_raw":0.0,"estimated_torque_nm":0.9166988730430603,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2757689952850342,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777210354804993,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02087652124464512,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2247641384601593,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":53.0,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788753421696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810831,"imu":{"quaternion":[0.9908425211906433,-0.0011105702724307775,0.019117632880806923,0.1336575150489807],"gyroscope":[-0.013848436065018177,-0.012783171609044075,0.0010652643395587802],"accelerometer":[-0.8655039072036743,-0.02603694424033165,9.54209041595459],"rpy":[0.002911757677793503,0.038191281259059906,0.26822248101234436],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33771440386772156,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015067100524902344,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.030854931101202965,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6287872195243835,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3116016089916229,"velocity_rad_s":-0.005810856353491545,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009958590380847454,"velocity_rad_s":-0.004678918514400721,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":-0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974770188331604,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558882117271423,"velocity_rad_s":0.001068034442141652,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350887516513467,"velocity_rad_s":-0.0018595006549730897,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0014463247498497367,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00632553780451417,"velocity_rad_s":-0.032083626836538315,"acceleration_raw":0.0,"estimated_torque_nm":-0.7361230254173279,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025401752442121506,"velocity_rad_s":0.013288909569382668,"acceleration_raw":0.0,"estimated_torque_nm":0.9931622743606567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2757810056209564,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20412731170654297,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777210354804993,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02087652124464512,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2247162014245987,"velocity_rad_s":-0.04141748324036598,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788731685184,"stream":"brainco.touch","data":[{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":46592,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":39168,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":34304,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":34304,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0},{"description":"TouchFingerItem {\n \t normal_force1: 0, normal_force2: 0, normal_force3: 0,\n \t tangential_force1: 0, tangential_force2: 0, tangential_force3: 0,\n \t tangential_direction1: 65535, tangential_direction2: 0, tangential_direction3: 0,\n \t self_proximity1: 0, self_proximity2: 0, mutual_proximity: 0,\n \t status: Normal\n }","mutual_proximity":0,"normal_force1":0,"normal_force2":0,"normal_force3":0,"self_proximity1":0,"self_proximity2":0,"status":49408,"tangential_direction1":65535,"tangential_direction2":0,"tangential_direction3":0,"tangential_force1":0,"tangential_force2":0,"tangential_force3":0}],"touch_metric":0.0,"controller_state_before":"releasing"} +{"timestamp_monotonic_ns":788754536224,"stream":"brainco.motor","data":{"currents":[10,-101,15,0,-16,1],"description":"MotorStatusData {\n \t positions: [0, 17, 0, 0, 0, 0],\n \t speeds: [0, 0, 0, 0, 0, 0],\n \t currents: [10, -101, 15, 0, -16, 1],\n \t states: [Idle, Idle, Idle, Idle, Idle, Idle],\n }","positions":[0,17,0,0,0,0],"speeds":[0,0,0,0,0,0],"states":[{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0},{"name":"MotorState.Idle","int_value":0}]}} +{"timestamp_monotonic_ns":788755647424,"stream":"controller.decision","data":{"state":"open_wait","close_value":0,"command_close":0,"trigger_arm":false,"release_arm":true,"entered_hold":false,"event":"hand_open_confirmed","touch_metric":0.0,"hand_is_open":true,"vision_state":"hand_present","vision_score":0.0}} +{"timestamp_monotonic_ns":788757820896,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810832,"imu":{"quaternion":[0.9908425211906433,-0.0011105702724307775,0.019117632880806923,0.1336575150489807],"gyroscope":[-0.013848436065018177,-0.012783171609044075,0.0010652643395587802],"accelerometer":[-0.8655039072036743,-0.02603694424033165,9.54209041595459],"rpy":[0.002911757677793503,0.038191281259059906,0.26822248101234436],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33772289752960205,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015075622126460075,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288042664527893,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160569190979004,"velocity_rad_s":-0.009474926628172398,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00998030323535204,"velocity_rad_s":0.009214215911924839,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331039249897003,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974770188331604,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558882117271423,"velocity_rad_s":0.002128797583281994,"acceleration_raw":0.0,"estimated_torque_nm":3.168123960494995,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350887516513467,"velocity_rad_s":-0.0018668639240786433,"acceleration_raw":0.0,"estimated_torque_nm":0.6853677034378052,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0014329327968880534,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006317941006273031,"velocity_rad_s":-0.03402993828058243,"acceleration_raw":0.0,"estimated_torque_nm":-0.7361230254173279,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02539682388305664,"velocity_rad_s":0.017059149220585823,"acceleration_raw":0.0,"estimated_torque_nm":0.9931622743606567,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2757929861545563,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005141232628375292,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777330160140991,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020864536985754967,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2247162014245987,"velocity_rad_s":-0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788759912032,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810833,"imu":{"quaternion":[0.9908422827720642,-0.0011169178178533912,0.019113734364509583,0.1336602121591568],"gyroscope":[-0.011717907153069973,-0.009587379172444344,0.004261057358235121],"accelerometer":[-0.8655039072036743,-0.02603694424033165,9.54209041595459],"rpy":[0.0028982292860746384,0.0381852462887764,0.26822760701179504],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33772289752960205,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015067100524902344,"velocity_rad_s":-0.01854412443935871,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012052706442773342,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288127899169922,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160983443260193,"velocity_rad_s":-0.0026389360427856445,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009973027743399143,"velocity_rad_s":-0.0009458371787331998,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331039249897003,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013993313536047935,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008865434676408768,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974770188331604,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558882117271423,"velocity_rad_s":0.0015947804786264896,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350887516513467,"velocity_rad_s":-0.0009371136547997594,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0014061490073800087,"velocity_rad_s":0.03256909176707268,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006295151077210903,"velocity_rad_s":-0.03791630268096924,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025382041931152344,"velocity_rad_s":0.01456474605947733,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.275816947221756,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777210354804993,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02088850550353527,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22470422089099884,"velocity_rad_s":-0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05881857872009277,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788762352128,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810834,"imu":{"quaternion":[0.9908412098884583,-0.0011235331185162067,0.01910751685500145,0.1336691528558731],"gyroscope":[-0.0021305286791175604,-0.0063915858045220375,0.009587379172444344],"accelerometer":[-0.7909843921661377,-0.0035913025494664907,9.696516990661621],"rpy":[0.0028837900608778,0.038174666464328766,0.2682453393936157],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33772289752960205,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015050055459141731,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288213133811951,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160983443260193,"velocity_rad_s":-0.0021096637938171625,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009973027743399143,"velocity_rad_s":-1.4362167348735966e-05,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331124484539032,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.014001836068928242,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":-0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974599719047546,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558467864990234,"velocity_rad_s":0.0015947804786264896,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002358109224587679,"velocity_rad_s":-0.0009371136547997594,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0013391895918175578,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006264764349907637,"velocity_rad_s":-0.045695289969444275,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025362329557538033,"velocity_rad_s":0.019610824063420296,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27582892775535583,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977744996547699,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020900487899780273,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.224692240357399,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788765439680,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810835,"imu":{"quaternion":[0.9908407926559448,-0.0011235714191570878,0.019106309860944748,0.13367272913455963],"gyroscope":[0.0010652643395587802,-0.0053263213485479355,0.0063915858045220375],"accelerometer":[-0.8152256608009338,-0.005386953707784414,9.665093421936035],"rpy":[0.0028835288248956203,0.038172271102666855,0.26825258135795593],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.33773142099380493,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015092666260898113,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288127899169922,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160569190979004,"velocity_rad_s":0.0026240870356559753,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00998030323535204,"velocity_rad_s":-0.0064772386103868484,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331124484539032,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013976269401609898,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974599719047546,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.876953125,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955930531024933,"velocity_rad_s":-0.0016020515467971563,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002372650196775794,"velocity_rad_s":0.0027892510406672955,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0012990138493478298,"velocity_rad_s":0.05999569594860077,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.00623437762260437,"velocity_rad_s":-0.03500231355428696,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02534261904656887,"velocity_rad_s":0.017689907923340797,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2758888602256775,"velocity_rad_s":0.04295146465301514,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.977744996547699,"velocity_rad_s":0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14578810334205627,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020900487899780273,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22466826438903809,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788766109248,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810836,"imu":{"quaternion":[0.9908407926559448,-0.0011235714191570878,0.019106309860944748,0.13367272913455963],"gyroscope":[0.0010652643395587802,-0.0053263213485479355,0.0063915858045220375],"accelerometer":[-0.8152256608009338,-0.005386953707784414,9.665093421936035],"rpy":[0.0028835288248956203,0.038172271102666855,0.26825258135795593],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377399444580078,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015084144659340382,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288127899169922,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-11.25,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160983443260193,"velocity_rad_s":-0.0010659685358405113,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009973027743399143,"velocity_rad_s":-0.005574488081037998,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331039249897003,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01395922526717186,"velocity_rad_s":-0.022907447069883347,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.008570813573896885,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974599719047546,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29559293389320374,"velocity_rad_s":-0.0021069843787699938,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0023436835035681725,"velocity_rad_s":-0.0036895480006933212,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0012856220128014684,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006196394097059965,"velocity_rad_s":-0.043750543147325516,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025317979976534843,"velocity_rad_s":0.018349304795265198,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2759128212928772,"velocity_rad_s":0.03988350182771683,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777689576148987,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020912472158670425,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22463232278823853,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021919148042798042,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.39375001192092896,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788769910080,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810837,"imu":{"quaternion":[0.9908402562141418,-0.0011238198494538665,0.019106555730104446,0.13367632031440735],"gyroscope":[0.0010652643395587802,-0.0021305286791175604,0.0063915858045220375],"accelerometer":[-0.7739257216453552,-0.048482585698366165,9.714473724365234],"rpy":[0.0028832401148974895,0.03817281499505043,0.26825982332229614],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377399444580078,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015084144659340382,"velocity_rad_s":-0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":1.0626776218414307,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288127899169922,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.3116016089916229,"velocity_rad_s":0.003119948785752058,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009958590380847454,"velocity_rad_s":-0.022247685119509697,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013976269401609898,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974514484405518,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558882117271423,"velocity_rad_s":0.002136068884283304,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350887516513467,"velocity_rad_s":-0.0037190013099461794,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001272230059839785,"velocity_rad_s":0.010284976102411747,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006181200500577688,"velocity_rad_s":-0.046667665243148804,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025308124721050262,"velocity_rad_s":0.02024158462882042,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27592480182647705,"velocity_rad_s":0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777689576148987,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02093644067645073,"velocity_rad_s":0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22464430332183838,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03659982234239578,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788770585792,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810838,"imu":{"quaternion":[0.9908395409584045,-0.0011242465116083622,0.01910826750099659,0.13368093967437744],"gyroscope":[0.0010652643395587802,0.0010652643395587802,0.008522114716470242],"accelerometer":[-0.7739257216453552,-0.048482585698366165,9.714473724365234],"rpy":[0.0028830310329794884,0.03817630931735039,0.2682691216468811],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377484679222107,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015084144659340382,"velocity_rad_s":-0.03490658849477768,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288127899169922,"velocity_rad_s":0.020725786685943604,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160983443260193,"velocity_rad_s":0.0020985272713005543,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009973027743399143,"velocity_rad_s":-0.00555294519290328,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331039249897003,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01395922526717186,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974684953689575,"velocity_rad_s":-0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558882117271423,"velocity_rad_s":0.002165153156965971,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350887516513467,"velocity_rad_s":-0.011127551086246967,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001232054433785379,"velocity_rad_s":0.022284114733338356,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006173604167997837,"velocity_rad_s":-0.03500153124332428,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025303196161985397,"velocity_rad_s":0.016435548663139343,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27592480182647705,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777569770812988,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020972393453121185,"velocity_rad_s":0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22463232278823853,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788772433024,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810839,"imu":{"quaternion":[0.9908387064933777,-0.0011252693366259336,0.019110266119241714,0.13368719816207886],"gyroscope":[-0.0,0.0021305286791175604,0.011717907153069973],"accelerometer":[-0.7236474752426147,-0.1032499447464943,9.813234329223633],"rpy":[0.0028817791026085615,0.038180526345968246,0.2682817876338959],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377484679222107,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015092666260898113,"velocity_rad_s":-0.02727077156305313,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288213133811951,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31161394715309143,"velocity_rad_s":-0.0010548318969085813,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009980247355997562,"velocity_rad_s":-7.181083674367983e-06,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013967746868729591,"velocity_rad_s":0.006544985342770815,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974770188331604,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955889403820038,"velocity_rad_s":0.0021069843787699938,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0023798542097210884,"velocity_rad_s":0.0036895480006933212,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0011784868547692895,"velocity_rad_s":0.046282391995191574,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006135620642453432,"velocity_rad_s":-0.043748196214437485,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02527855709195137,"velocity_rad_s":0.014586224220693111,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2759607434272766,"velocity_rad_s":0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":1.75,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777689576148987,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.1457281857728958,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02094842493534088,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22454842925071716,"velocity_rad_s":-0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013973606750369072,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788774815392,"stream":"controller.command","data":{"kind":"finger_positions","positions":[0,0,0,0,0,0],"reason":"idle_open"}} +{"timestamp_monotonic_ns":788775163456,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810840,"imu":{"quaternion":[0.9908381700515747,-0.0011269869282841682,0.01910884864628315,0.13369189202785492],"gyroscope":[-0.0021305286791175604,-0.004261057358235121,0.008522114716470242],"accelerometer":[-0.756866991519928,-0.07811082899570465,9.758466720581055],"rpy":[0.0028781734872609377,0.03817816451191902,0.2682912051677704],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377484679222107,"velocity_rad_s":0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015109710395336151,"velocity_rad_s":-0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288127899169922,"velocity_rad_s":-0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160983443260193,"velocity_rad_s":0.0010436952579766512,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009973027743399143,"velocity_rad_s":-0.005560126155614853,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331039249897003,"velocity_rad_s":-0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013925136998295784,"velocity_rad_s":-0.029452433809638023,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974684953689575,"velocity_rad_s":0.00872664712369442,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955930531024933,"velocity_rad_s":0.0005267460946924984,"acceleration_raw":0.0,"estimated_torque_nm":3.168123960494995,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002372650196775794,"velocity_rad_s":0.0009223870001733303,"acceleration_raw":0.0,"estimated_torque_nm":0.6853677034378052,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0011383111122995615,"velocity_rad_s":0.05313904583454132,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006112830713391304,"velocity_rad_s":-0.042778950184583664,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025263773277401924,"velocity_rad_s":0.018972905352711678,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.27599671483039856,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20415127277374268,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777689576148987,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14575214684009552,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020960409194231033,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22452445328235626,"velocity_rad_s":-0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.02196708507835865,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788777253376,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810841,"imu":{"quaternion":[0.9908376932144165,-0.0011289906688034534,0.019105231389403343,0.13369551301002502],"gyroscope":[-0.0031957929022610188,-0.008522114716470242,0.0063915858045220375],"accelerometer":[-0.8331822156906128,-0.061052143573760986,9.694721221923828],"rpy":[0.0028733713552355766,0.038171518594026566,0.26829832792282104],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377484679222107,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015109710395336151,"velocity_rad_s":-0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288383603096008,"velocity_rad_s":0.01636246219277382,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31161391735076904,"velocity_rad_s":0.0010585441486909986,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009994740597903728,"velocity_rad_s":0.0018629501573741436,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013950702734291553,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974770188331604,"velocity_rad_s":0.01308997068554163,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2956012785434723,"velocity_rad_s":-0.0015729671576991677,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.0023582244757562876,"velocity_rad_s":-0.004619298502802849,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0011383111122995615,"velocity_rad_s":0.020569952204823494,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006097637116909027,"velocity_rad_s":-0.03986261412501335,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025253918021917343,"velocity_rad_s":0.01833498664200306,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2760086953639984,"velocity_rad_s":0.03528156131505966,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777929186820984,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020972393453121185,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2245124727487564,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036611806601285934,"velocity_rad_s":-0.016873789951205254,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021979069337248802,"velocity_rad_s":-0.030679617077112198,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788779236096,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810842,"imu":{"quaternion":[0.9908373355865479,-0.0011295652948319912,0.019102806225419044,0.13369856774806976],"gyroscope":[-0.0,-0.0063915858045220375,0.0053263213485479355],"accelerometer":[-0.7658452391624451,-0.05746084079146385,9.752182006835938],"rpy":[0.002871699398383498,0.03816685453057289,0.2683044970035553],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377399444580078,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015135277062654495,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":1.0067471265792847,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288213133811951,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31161394715309143,"velocity_rad_s":0.0010436952579766512,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009980247355997562,"velocity_rad_s":-0.005560126155614853,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331039249897003,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013942181132733822,"velocity_rad_s":-0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008905611000955105,"velocity_rad_s":-0.027426602318882942,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974770188331604,"velocity_rad_s":0.021816616877913475,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558467864990234,"velocity_rad_s":0.004228510893881321,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002358109224587679,"velocity_rad_s":0.0036748212296515703,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.001084743533283472,"velocity_rad_s":0.03428325429558754,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.006067250389605761,"velocity_rad_s":-0.037919431924819946,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025234205648303032,"velocity_rad_s":0.01958218775689602,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2760086953639984,"velocity_rad_s":0.029145635664463043,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20417524874210358,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777809381484985,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020984377712011337,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2244885116815567,"velocity_rad_s":-0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021955100819468498,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788780959008,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810843,"imu":{"quaternion":[0.9908368587493896,-0.0011298076715320349,0.019101949408650398,0.13370215892791748],"gyroscope":[0.0010652643395587802,-0.0031957929022610188,0.0063915858045220375],"accelerometer":[-0.7658452391624451,-0.05746084079146385,9.752182006835938],"rpy":[0.0028711280319839716,0.03816520795226097,0.2683117389678955],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377484679222107,"velocity_rad_s":-0.009817477315664291,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015118232928216457,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288213133811951,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160569190979004,"velocity_rad_s":0.0015655428869649768,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.00998030323535204,"velocity_rad_s":-0.00834018923342228,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33309540152549744,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013933658599853516,"velocity_rad_s":-0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":1.7578125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":-0.0017141626449301839,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974684953689575,"velocity_rad_s":0.025089111179113388,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558467864990234,"velocity_rad_s":0.001587509410455823,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002358109224587679,"velocity_rad_s":0.0009150236728601158,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0010579597437754273,"velocity_rad_s":0.029140764847397804,"acceleration_raw":0.0,"estimated_torque_nm":-0.11186079680919647,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.0060444604605436325,"velocity_rad_s":-0.033060695976018906,"acceleration_raw":0.0,"estimated_torque_nm":-0.6870856881141663,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025219423696398735,"velocity_rad_s":0.021445831283926964,"acceleration_raw":0.0,"estimated_torque_nm":0.9167604446411133,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2760566174983978,"velocity_rad_s":0.02147573232650757,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20416326820850372,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9777809381484985,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.020972393453121185,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.02500000037252903,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2244405746459961,"velocity_rad_s":-0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255333304405212,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021943116560578346,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788783287840,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810844,"imu":{"quaternion":[0.9908366203308105,-0.0011296691372990608,0.01910214126110077,0.13370360434055328],"gyroscope":[0.0021305286791175604,-0.0010652643395587802,0.0021305286791175604],"accelerometer":[-0.744297444820404,-0.0071826050989329815,9.814131736755371],"rpy":[0.002871509874239564,0.03816554695367813,0.2683146595954895],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377569913864136,"velocity_rad_s":-0.010908308438956738,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01516084372997284,"velocity_rad_s":-0.0359974168241024,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012066097930073738,"velocity_rad_s":0.01714162714779377,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288383603096008,"velocity_rad_s":0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-11.42578125,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31161394715309143,"velocity_rad_s":-0.0031830568332225084,"acceleration_raw":0.0,"estimated_torque_nm":5.463329315185547,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009980247355997562,"velocity_rad_s":-0.009300388395786285,"acceleration_raw":0.0,"estimated_torque_nm":-1.4574806690216064,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331039249897003,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":2.109375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013925136998295784,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008865434676408768,"velocity_rad_s":0.0068566505797207355,"acceleration_raw":0.0,"estimated_torque_nm":-1.0067471265792847,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974684953689575,"velocity_rad_s":0.014180801808834076,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558467864990234,"velocity_rad_s":0.0005267460946924984,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002358109224587679,"velocity_rad_s":0.0009223870001733303,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0010177841177210212,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005991283338516951,"velocity_rad_s":-0.03791864961385727,"acceleration_raw":0.0,"estimated_torque_nm":-0.6876486539840698,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025184927508234978,"velocity_rad_s":0.018327828496694565,"acceleration_raw":0.0,"estimated_torque_nm":0.7638952136039734,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2760326564311981,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20418722927570343,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.005117264110594988,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9778048992156982,"velocity_rad_s":0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.010737866163253784,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02099636197090149,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22439263761043549,"velocity_rad_s":-0.03221359848976135,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":-0.00920388475060463,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.014009559527039528,"velocity_rad_s":-0.01840776950120926,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788784954464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810845,"imu":{"quaternion":[0.9908366799354553,-0.0011302814818918705,0.019100481644272804,0.1337040364742279],"gyroscope":[-0.0,-0.004261057358235121,-0.0],"accelerometer":[-0.6976104974746704,0.055665191262960434,9.839271545410156],"rpy":[0.002869867254048586,0.03816242516040802,0.26831546425819397],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377484679222107,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015126754529774189,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012039314024150372,"velocity_rad_s":0.0051424880512058735,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288554072380066,"velocity_rad_s":0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31160983443260193,"velocity_rad_s":0.0005032867775298655,"acceleration_raw":0.0,"estimated_torque_nm":5.372086524963379,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009973027743399143,"velocity_rad_s":-0.012058908119797707,"acceleration_raw":0.0,"estimated_torque_nm":-1.4056355953216553,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.3331039249897003,"velocity_rad_s":-0.0010908308904618025,"acceleration_raw":0.0,"estimated_torque_nm":2.021484375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013925136998295784,"velocity_rad_s":0.019634954631328583,"acceleration_raw":0.0,"estimated_torque_nm":1.58203125,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":-0.015427465550601482,"acceleration_raw":0.0,"estimated_torque_nm":-0.8948863744735718,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974599719047546,"velocity_rad_s":0.007635816000401974,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558882117271423,"velocity_rad_s":0.0026555436197668314,"acceleration_raw":0.0,"estimated_torque_nm":3.077380418777466,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350887516513467,"velocity_rad_s":-0.000944476923905313,"acceleration_raw":0.0,"estimated_torque_nm":0.6332476139068604,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0009910003282129765,"velocity_rad_s":0.04113990440964699,"acceleration_raw":0.0,"estimated_torque_nm":-0.1677911877632141,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005938118789345026,"velocity_rad_s":-0.049584001302719116,"acceleration_raw":0.0,"estimated_torque_nm":-0.6876486539840698,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.025170033797621727,"velocity_rad_s":0.020879503339529037,"acceleration_raw":0.0,"estimated_torque_nm":0.7638952136039734,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2760806083679199,"velocity_rad_s":0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":1.3125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20418722927570343,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0076699042692780495,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9778048992156982,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":-0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":-0.0625,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02099636197090149,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.22438064217567444,"velocity_rad_s":-0.027611656114459038,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.1784810721874237,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.058770641684532166,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788787033696,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810864,"imu":{"quaternion":[0.9908331036567688,-0.0011432812316343188,0.01898186281323433,0.13374681770801544],"gyroscope":[-0.0010652643395587802,-0.017044229432940483,0.0063915858045220375],"accelerometer":[-0.606930136680603,-0.10953472554683685,9.648932456970215],"rpy":[0.002813952974975109,0.03793063014745712,0.2683998644351959],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377825617790222,"velocity_rad_s":-0.002181661780923605,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.015246064402163029,"velocity_rad_s":-0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-1.142578125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012025922536849976,"velocity_rad_s":0.013713301159441471,"acceleration_raw":0.0,"estimated_torque_nm":0.8948863744735718,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288639307022095,"velocity_rad_s":0.031634096056222916,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31162214279174805,"velocity_rad_s":0.0020985272713005543,"acceleration_raw":0.0,"estimated_torque_nm":5.372086524963379,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009994684718549252,"velocity_rad_s":-0.00555294519290328,"acceleration_raw":0.0,"estimated_torque_nm":-1.4056355953216553,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33312949538230896,"velocity_rad_s":-0.005454154219478369,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.013856959529221058,"velocity_rad_s":0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008852043189108372,"velocity_rad_s":0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974684953689575,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.2955930531024933,"velocity_rad_s":-0.004740715026855469,"acceleration_raw":0.0,"estimated_torque_nm":2.8966116905212402,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002372650196775794,"velocity_rad_s":-0.00830148346722126,"acceleration_raw":0.0,"estimated_torque_nm":0.6325379610061646,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.0002812298189383,"velocity_rad_s":0.04285406693816185,"acceleration_raw":0.0,"estimated_torque_nm":-0.3355823755264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005277249030768871,"velocity_rad_s":-0.055411446839571,"acceleration_raw":0.0,"estimated_torque_nm":-0.5903883576393127,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.02474171668291092,"velocity_rad_s":0.03456592559814453,"acceleration_raw":0.0,"estimated_torque_nm":0.6123603582382202,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.276559978723526,"velocity_rad_s":0.03374757990241051,"acceleration_raw":0.0,"estimated_torque_nm":1.25,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20413929224014282,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.0015339808305725455,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9779607057571411,"velocity_rad_s":0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14576412737369537,"velocity_rad_s":0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.021044299006462097,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.20000000298023224,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007322361692786217,"velocity_rad_s":0.012271846644580364,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2239132672548294,"velocity_rad_s":-0.02454369328916073,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17849305272102356,"velocity_rad_s":-0.015339808538556099,"acceleration_raw":0.0,"estimated_torque_nm":-1.75,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.03663577511906624,"velocity_rad_s":0.019941750913858414,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":-0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.3125,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013985591009259224,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.02500000037252903,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788789698464,"stream":"unitree.lowstate","data":{"version_raw":[0,0],"mode_pr_raw":0,"mode_machine_raw":5,"tick_raw":810865,"imu":{"quaternion":[0.9908328652381897,-0.0011438173241913319,0.018970908597111702,0.13375045359134674],"gyroscope":[-0.0021305286791175604,-0.020240021869540215,0.0063915858045220375],"accelerometer":[-0.6239888072013855,-0.054767362773418427,9.711779594421387],"rpy":[0.002810093807056546,0.03790904954075813,0.2684069871902466],"temperature":80},"motors":[{"index":0,"joint_name":"left_hip_pitch","mode_raw":1,"position_rad":-0.3377825617790222,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-0.703125,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":1,"joint_name":"left_hip_roll","mode_raw":1,"position_rad":-0.01522902026772499,"velocity_rad_s":0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":-1.0546875,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":2,"joint_name":"left_hip_yaw","mode_raw":1,"position_rad":0.012012530118227005,"velocity_rad_s":-0.0034283252898603678,"acceleration_raw":0.0,"estimated_torque_nm":0.9508167505264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":3,"joint_name":"left_knee","mode_raw":1,"position_rad":0.6288468837738037,"velocity_rad_s":-0.015271632000803947,"acceleration_raw":0.0,"estimated_torque_nm":-11.337890625,"temperature_raw":[38,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":4,"joint_name":"left_ankle_pitch","mode_raw":1,"position_rad":-0.31162214279174805,"velocity_rad_s":-7.4244294410164e-06,"acceleration_raw":0.0,"estimated_torque_nm":5.372086524963379,"temperature_raw":[39,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":5,"joint_name":"left_ankle_roll","mode_raw":1,"position_rad":0.009994684718549252,"velocity_rad_s":-0.0037115381564944983,"acceleration_raw":0.0,"estimated_torque_nm":-1.4056355953216553,"temperature_raw":[40,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":6,"joint_name":"right_hip_pitch","mode_raw":1,"position_rad":-0.33312949538230896,"velocity_rad_s":-0.00436332356184721,"acceleration_raw":0.0,"estimated_torque_nm":1.93359375,"temperature_raw":[36,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":7,"joint_name":"right_hip_roll","mode_raw":1,"position_rad":0.01383991539478302,"velocity_rad_s":-0.0032724926713854074,"acceleration_raw":0.0,"estimated_torque_nm":1.669921875,"temperature_raw":[36,35],"voltage_raw":52.5,"motor_state_raw":0},{"index":8,"joint_name":"right_hip_yaw","mode_raw":1,"position_rad":-0.008878827095031738,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.9508167505264282,"temperature_raw":[34,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":9,"joint_name":"right_knee","mode_raw":1,"position_rad":0.5974599719047546,"velocity_rad_s":0.011999139562249184,"acceleration_raw":0.0,"estimated_torque_nm":-8.96484375,"temperature_raw":[37,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":10,"joint_name":"right_ankle_pitch","mode_raw":1,"position_rad":-0.29558882117271423,"velocity_rad_s":-0.00526018999516964,"acceleration_raw":0.0,"estimated_torque_nm":2.8966116905212402,"temperature_raw":[39,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":11,"joint_name":"right_ankle_roll","mode_raw":1,"position_rad":0.002350887516513467,"velocity_rad_s":-0.011076007969677448,"acceleration_raw":0.0,"estimated_torque_nm":0.6325379610061646,"temperature_raw":[40,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":12,"joint_name":"waist_yaw","mode_raw":1,"position_rad":-0.00022766222537029535,"velocity_rad_s":0.054853204637765884,"acceleration_raw":0.0,"estimated_torque_nm":-0.3355823755264282,"temperature_raw":[35,34],"voltage_raw":52.5,"motor_state_raw":0},{"index":13,"joint_name":"waist_roll","mode_raw":1,"position_rad":0.005231684073805809,"velocity_rad_s":-0.059300556778907776,"acceleration_raw":0.0,"estimated_torque_nm":-0.5408751964569092,"temperature_raw":[41,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":14,"joint_name":"waist_pitch","mode_raw":1,"position_rad":-0.024722041562199593,"velocity_rad_s":0.038331449031829834,"acceleration_raw":0.0,"estimated_torque_nm":0.688959538936615,"temperature_raw":[42,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":15,"joint_name":"left_shoulder_pitch","mode_raw":1,"position_rad":0.2765839397907257,"velocity_rad_s":0.026077674701809883,"acceleration_raw":0.0,"estimated_torque_nm":1.1875,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":16,"joint_name":"left_shoulder_roll","mode_raw":1,"position_rad":0.20412731170654297,"velocity_rad_s":-0.013805828057229519,"acceleration_raw":0.0,"estimated_torque_nm":1.8125,"temperature_raw":[43,44],"voltage_raw":52.5,"motor_state_raw":0},{"index":17,"joint_name":"left_shoulder_yaw","mode_raw":1,"position_rad":-0.00512924836948514,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":0.1875,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":18,"joint_name":"left_elbow","mode_raw":1,"position_rad":0.9779367446899414,"velocity_rad_s":0.003067961661145091,"acceleration_raw":0.0,"estimated_torque_nm":-0.5,"temperature_raw":[40,38],"voltage_raw":52.5,"motor_state_raw":0},{"index":19,"joint_name":"left_wrist_roll","mode_raw":1,"position_rad":0.14574016630649567,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.125,"temperature_raw":[43,42],"voltage_raw":52.5,"motor_state_raw":0},{"index":20,"joint_name":"left_wrist_pitch","mode_raw":1,"position_rad":0.02105628326535225,"velocity_rad_s":0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.21250000596046448,"temperature_raw":[43,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":21,"joint_name":"left_wrist_yaw","mode_raw":1,"position_rad":-0.007334345951676369,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.03750000149011612,"temperature_raw":[40,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":22,"joint_name":"right_shoulder_pitch","mode_raw":1,"position_rad":0.2239132672548294,"velocity_rad_s":-0.023009711876511574,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[43,45],"voltage_raw":52.5,"motor_state_raw":0},{"index":23,"joint_name":"right_shoulder_roll","mode_raw":1,"position_rad":-0.17846907675266266,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.6875,"temperature_raw":[40,40],"voltage_raw":52.5,"motor_state_raw":0},{"index":24,"joint_name":"right_shoulder_yaw","mode_raw":1,"position_rad":0.036623790860176086,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":25,"joint_name":"right_elbow","mode_raw":1,"position_rad":0.8255213499069214,"velocity_rad_s":-0.004601942375302315,"acceleration_raw":0.0,"estimated_torque_nm":-1.0,"temperature_raw":[44,46],"voltage_raw":52.5,"motor_state_raw":0},{"index":26,"joint_name":"right_wrist_roll","mode_raw":1,"position_rad":-0.05879461020231247,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.25,"temperature_raw":[42,39],"voltage_raw":52.5,"motor_state_raw":0},{"index":27,"joint_name":"right_wrist_pitch","mode_raw":1,"position_rad":-0.021931132301688194,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.3812499940395355,"temperature_raw":[46,41],"voltage_raw":52.5,"motor_state_raw":0},{"index":28,"joint_name":"right_wrist_yaw","mode_raw":1,"position_rad":-0.013997575268149376,"velocity_rad_s":-0.006135923322290182,"acceleration_raw":0.0,"estimated_torque_nm":-0.012500000186264515,"temperature_raw":[39,36],"voltage_raw":52.5,"motor_state_raw":0},{"index":29,"joint_name":"reserved_29","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":30,"joint_name":"reserved_30","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":31,"joint_name":"reserved_31","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":32,"joint_name":"reserved_32","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":33,"joint_name":"reserved_33","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0},{"index":34,"joint_name":"reserved_34","mode_raw":0,"position_rad":0.0,"velocity_rad_s":0.0,"acceleration_raw":0.0,"estimated_torque_nm":0.0,"temperature_raw":[0,0],"voltage_raw":0.0,"motor_state_raw":0}]},"topic":"rt/lowstate"} +{"timestamp_monotonic_ns":788791636800,"stream":"controller.command","data":{"kind":"finger_positions","positions":[0,0,0,0,0,0],"reason":"hand_open_confirmed"}} +{"timestamp_monotonic_ns":788793511008,"stream":"trajectory.summary","data":{"trajectory_id":"addfa8e6-aa74-4a99-ba7d-ad5c9b892f88","result":"success","reason":"hand_open_confirmed","dropped_samples_total":0,"finished_at_utc":"2026-08-23T23:05:08.644962+00:00"}}